APPLICAZIONE Regolatore tecnologico - STÃBER ...

APPLICAZIONE 

Regolatore tecnologico 

5° Generazione convertitori STÖBER 

FUNZIONI 

DETTAGLI 

PARAMETRI 

V 5.2 

09/2006 I 

IM 

MSB 

IA 

bus di 

campo Applicazione POSI 

Switch ®

Regolatore tecnologico – 5° Generazione convertitori STÖBER 

Sommario 

STÖBER 

ANTRIEBSTECHNIK 

SOMMARIO 

1. Informazioni sulla sicurezza TR-1 

1.1 Hardware TR-1 

1.2 Software TR-3 

2. Descrizione delle funzioni TR-4 

2.1 Panoramica TR-4 

2.1.1 Valore effettivo e di riferimento tecnologicoTR-4 

2.1.2 Regolatore tecnologico TR-5 

2.1.3 Regolazione velocità/coppia TR-6 

2.1.4 Monitoraggio di campo TR-7 

2.2 Interfaccia TR-7 

2.2.1 Segnali di entrata binari TR-7 

2.2.2 Segnali d’entrata analoghi TR-8 

2.2.3 Segnali di uscita TR-8 

2.2.4 Rappresentazione elaborazione dati TR-8 

2.3 Assistente per l’inserimento dei parametri TR-9 

3. Dettagli TR-10 

3.1 Regolatore PID TR-10 

3.2 Regolatore di velocità TR-12 

3.3 Funzionamento locale TR-13 

3.4 Arresto rapido A45 TR-13 

3.5 Controllo Emergenza NOTAUS TR-14 

3.6 Limite di coppia TR-15 

3.7 Ingressi e uscite analogiche TR-15 

3.7.1 Ingressi analogici TR-15 

3.7.2 Uscite analogiche TR-16 

3.8 Eventi TR-16 

3.9 Comunicazione con CAN TR-16 

3.10 Comunicazione con PROFIBUS TR-17 

3.11 Comunicazione con EtherCAT TR-17 

3.12 Visione generale della struttura del 

regolatore tecnologico 

TR-18 

4. Used Parameters TR-19 

4.1 Parameter legend TR-19 

4.2 Parameter list TR-19

5° generazione convertitori STÖBER STÖBER 


1. Informazioni sulla sicurezza 

1 INFORMAZIONI SULLA SICUREZZA 

Questo manuale di istruzione contiene informazioni da osservare per la prevenzione di 

danni a persone e materiali. Le informazioni sono classificate secondo il grado di 

pericolosità e rappresentate nel modo seguente: 

ATTENZIONE 

Significa che la mancata osservanza delle rispettive avvertenze può provocare una 

situazione o condizione non voluta. 

PRUDENZA 

Senza triangolo di segnalazione significa che la mancata osservanza delle rispettive 

misure precauzionali può provocare dei danni materiali. 

PRUDENZA 

Con triangolo di segnalazione significa che la mancata osservanza delle rispettive 

misure precauzionali può provocare lesioni corporee e danni materiali. 

AVVERTENZA 

Significa che la mancata osservanza delle misure precauzionali può costituire un 

imminente pericolo di morte e causare notevoli danni materiali. 

PERICOLO 

Significa che la mancata osservanza delle misure precauzionali avrà la conseguenza di 

un imminente pericolo di morte e causare notevoli danni materiali. 

NOTA 

Significa che occorre prestare una particolare attenzione ad un’informazione importante 

relativa al prodotto o a evidenziare una parte della documentazione particolarmente da 

osservare. 

AZIONE 

Richiama l'attenzione relativa ad un'azione particolarmente importante nella 

manipolazione del prodotto. 

1.1 Hardware 

AVVERTENZA 

Leggere assolutamente le presenti istruzioni prima del montaggio e la messa in servizio, 

affinché non si verifichino delle complicazioni evitabili con la messa in servizio e/oppure 

esercizio. 

Nei POSIDRIVE ® delle serie costruttive FDS e MDS ai sensi della norma DIN EN 50178 

(in passato VDE 0160) si tratta di un dispositivo di servizio elettrico dell'elettronica di 

potenza (BLE) per la regolazione del flusso energetico in impianti ad alto amperaggio. 

Questi dispositivi sono esclusivamente concepiti per l'alimentazione delle macchine 

servoasservite (MDS) e asincrone (FDS, MDS). L’handling, il montaggio, l'esercizio e la 

manutenzione sono consentiti soltanto in una scrupolosa osservanza e rispetto delle 

prescrizioni vigenti in loco e oppure dei modelli vigenti ai sensi di legge, regolamentazioni 

tecniche e informazioni riportate nella presente documentazione tecnica. 

Questo è un prodotto della classe di distribuzione ristretta secondo la normativa IEC 

61800-3. In un ambiente abitativo questo prodotto può causare disfunzioni ad alta 

frequenza, motivo per cui all'utente possono essere imposte rispettive misure preventive. 

L'esercente deve garantire affinché vengano scrupolosamente rispettate tutte le 

regolamentazioni e prescrizioni vigenti in loco. 

1




L'esercente deve provvedere affinché vengano osservate scrupolosamente tutte le 

informazioni di sicurezza riportate negli altri paragrafi (punti) e le rispettive specifiche. 

AVVERTENZA 

Prudenza! Elevata tensione di contatto! Pericolo di shock! Pericolo di morte! 

Con la tensione di rete allacciata non è consentito aprire in nessun caso l'alloggiamento 

o allentare dei collegamenti. Un'apertura del convertitore può avvenire solamente dopo 

aver disinserito la corrente (tutte le spine e cavi di potenza devono essere staccati), non 

prima di 5 min. dopo il disinserimento della tensione di rete, ad esempio per montare o 

smontare delle schede opzionali. Il presupposto per un funzionamento perfetto e 

irreprensibile del convertitore sono una progettazione e montaggio appropriati 

dell'attuatore del convertitore. Il trasporto, l'installazione, la messa in servizio e il 

comando dell'apparecchio sono attività riservate esclusivamente a personale qualificato 

e specializzato. 

Osservare soprattutto: 

• Classe di protezione ammessa: Messa a terra di protezione; l'esercizio è ammissibile 

soltanto con il collegamento del conduttore di protezione secondo le prescrizioni. Non 

è possibile un funzionamento diretto degli apparecchi in reti IT. 

• I lavori di installazione devono essere effettuati solamente dopo aver disinserito la 

tensione. Durante l'esecuzione di lavori all'attuatore, è necessario interdire 

l'abilitazione e sconnettere il completo attuatore dalla rete. 

(Osservare queste 5 regole di sicurezza). 

• Tempo di scaricamento dei condensatori del circuito intermedio > 5 minuti. 

• Non è consentito penetrare all'interno dell'apparecchio con degli oggetti di qualsiasi 

genere. 

• Durante il montaggio o l'esecuzione di altri lavori all'interno dell'armadio di comando, è 

necessario proteggere l'apparecchio contro una caduta accidentale dei componenti 

(residui di, fili, conduttori, componenti metallici, ecc.). I componenti con proprietà con 

conduttive all'interno del convertitore possono provocare un corto circuito o un guasto 

dell'apparecchio. 

• Prima della messa in servizio sono inoltre da rimuovere le coperture, affinché non si 

verifichi nessun surriscaldamento dell'apparecchio. 

Il convertitore deve essere installato all'interno di un armadio di comando, in cui non 

viene superata la massima temperatura ambientale (si veda ai dati tecnici). È consentito 

utilizzare esclusivamente conduttori di rame. La sezione dei conduttori da utilizzare è da 

apprendere alla tabella 310-16 della norma NEC ad una temperatura di 60 o C o 75 o C. 

Per danni attribuibili ad una mancata osservanza delle istruzioni o delle rispettive 

prescrizioni, la ditta STÖBER ANTRIEBSTECHNIK GmbH + Co. KG non si 

assumerà alcuna responsabilità. 

Il motore deve possedere un dispositivo di monitoraggio integrale della temperatura, o 

essere provvisto di un interruttore salvamotore esterno. 

Adatto soltanto per l'utilizzo in reti d'alimentazione elettrica che forniscono al massimo 

una corrente di cortocircuito nominale simmetrica pari a 5000 A a 480 Volt. 

Ci riserviamo apportare modifiche tecniche finalizzate a migliorie dell'apparecchio. 

La presente documentazione rappresenta una descrizione del prodotto. Qui non si 

tratta di proprietà garantite ai sensi dei diritti di garanzia. 

2




1.2 Software 

Utilizzo del software POSITool 

Manutenzione del prodotto 

Il pacchetto software POSITool consente una scelta dell'applicazione, adattamento dei 

parametri e osservazione dei segnali della 5° generazione di convertitori STÖBER. Con 

la selezione dell'applicazione e il trasferimento di questi dati ad un convertitore, viene 

determinata la funzionalità. 

Il programma è proprietà della ditta STÖBER ANTRIEBSTECHNIK GmbH + Co. KG e 

protetto ai sensi dei diritti d'autore. Il programma viene concesso all'utente con una 

rispettiva licenza. 

La cessione del software avviene esclusivamente in forma meccanicamente leggibile. 

La ditta STÖBER ANTRIEBSTECHNIK GmbH + Co. KG concede al cliente un diritto non 

esclusivo ad utilizzare il programma (licenza), purché acquistato legalmente. 

Il cliente è autorizzato ad utilizzare il programma per le attività e funzioni sopra descritte 

nonché a creare ed installare copie del programma, inclusa una copia di sicurezza 

(backup) per scopi di supporto e utilizzo. 

Le condizioni della presente licenza valgono per ogni copia. Il cliente si impegna ad 

applicare su ogni copia del programma una nota di copyright e tutte le altre notifiche di 

proprietà. 

Il cliente non è autorizzato ad utilizzare il programma per scopi diversi da quelli descritti 

nelle presenti disposizioni, né a modificarlo, inoltrarlo ovvero trasferirlo; inoltre, non è 

consentito trasformare/convertire il programma (reverse assemble, reverse compile) o 

tradurlo in altro mondo, cedere il programma in sottolicenza, in locazione o leasing. 

L'obbligo di manutenzione si riferisce alle due ultime attuali versioni del programma 

create dalla ditta STÖBER ANTRIEBSTECHNIK GmbH + Co. KG e abilitate per l'utilizzo 

dalla stessa. 

La STÖBER ANTRIEBSTECHNIK GmbH + Co. KG si impegnerà a rimediare difetti del 

programma o a mettere a disposizione del cliente una nuova versione del programma 

originale della STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. Qualora non fosse 

possibile in casi singoli rimediare immediatamente il difetto, la ditta STÖBER 

ANTRIEBSTECHNIK GmbH + Co. KG provvederà a trovare una soluzione provvisoria, 

che potrebbe necessariamente richiedere l'osservanza di particolari prescrizioni di 

utilizzo da parte dell'utente. 

Il diritto al rimedio di difetti sussiste solamente quando l'errore segnalato è riproducibile o 

registrabile meccanicamente con rispettivi dispositivi. Eventuali difetti dovranno 

comunque essere segnalati in forma comprensibile, indicando delle informazioni 

opportune e finalizzate al rimedio del difetto verificatosi. 

Per i programmi che sono stati sottoposti a modifiche o altri interventi illeciti da parte del 

cliente non sussiste alcun obbligo di rimedio di eventuali difetti, fatta salva la clausola 

che il cliente in relazione alla segnalazione del difetto possa dimostrare che l'intervento 

non ha causato il difetto. 

La STÖBER ANTRIEBSTECHNIK GmbH + Co. KG si impegnerà a conservare le 

rispettive versioni attualmente valide del programma in un luogo specialmente e 

particolarmente protetto (cassaforte antincendio per supporti informatici). 

3


2. Descrizione delle funzioni 

STÖBER 


2 DESCRIZIONE DELLE FUNZIONI 

Introduzione 

Con l’applicazione regolatore tecnologico un motore può seguire un valore di riferimento 

(grandezza di riferimento) mediante un regolatore PID regolato in coppia e velocità. 

Sono disponibili le seguenti funzioni: 

• impostazione della grandezza di riferimento, a seconda della selezione della 

configurazione con morsetti, bus di campo (CAN, PROFIBUS o EtherCAT) o seriale 

(USS). 

• inversione del valore di riferimento mediante segnale digitale (morsetto, bus di campo 

o in modo seriale). 

• acquisizione del valore effettivo mediante morsetto, bus di campo o in maniera seriale. 

• monitoraggio del campo variabile 

• arresto rapido a scelta mediante bus o morsetti. 

• generatore di riferimento integrato per l’ottimizzazione della velocità. 

2.1 Panoramica 

Introduzione 

Nel seguente capitolo viene illustrata la struttura dell’applicazione regolatore tecnologico. 

L’applicazione di divide in quattro blocchi principali: 

• Confronto riferimento effettivo 

• Regolatore tecnologico con funzione PID 

• Regolazione velocità/coppia 

• Monitoraggio campo di lavoro 

Il confronto riferimento effettivo calcola la deviazione che viene inoltrata al regolatore 

tecnologico. 

Il regolatore PID calcola la variabile impostabile in base alla funzione di trasferimento. 

La variabile impostabile confluisce con il valore di feed forward della regolazione di 

coppia nella regolazione di coppia/velocità. 

Ha luogo un monitoraggio del campo di lavoro indipendentemente da questi segnali. 

I blocchi vengono descritti dettagliatamente nelle seguenti interfacce. 

Regolazione 

Velocità 

/coppia 

Riferimento per feed forward regolaz. Vel. 

Riferimento per feed forward regolazione coppia 

Compens. Rif-eff. 

+ 

Deviazione 

Regolatore tecnol. 

Var. Imp. 

n M 

Monitoraggio 

campo 

TR-4 

Figura 2-1: Struttura applicazione regolatore tecnologico 

2.1.1 Valore effettivo e di riferimento tecnologico 

Introduzione 

I valori effettivo e di riferimento tecnologico sono disponibili mediante il parametro di 

selezione. G132 determina la sorgente per il valore di riferimento. Quest’ultimo può 

essere invertito con la sorgente impostata in G100. Il parametro G133 definisce la 

sorgente del valore effettivo tecnologico. 

Come interfacce per il valore effettivo e di riferimento sono disponibili tre ingressi 

analogici e un parametro per il funzionamento del bus di campo. Il riferimento viene 

scritto mediante bus di campo in G232. Per quanto riguarda il valore effettivo, il 

parametro impostato in G12 viene utilizzato come sorgente (preimpostato: G233). In 

questo modo sono impostabili diversi parametri per l’accoppiamento. Per uno 

smorzamento del valore effettivo è disponibile un passabasso con le costanti di tempo 

G11. La richiesta dello stato di riferimento e effettivo avviene con i parametri G332 e 

G333. Nel percorso del valore di riferimento viene deviato il valore di riferimento per il 

feed forward della regolazione della coppia. La deviazione viene indicata nel parametro 

G180.



STÖBER 


Riferimento 

tecnologico 

0% 

AE1 

AE2 

AE3 

G232 

Rif. tecnologico 

sorgente 

G132 

(-1) 

Stato rif. 


G332 

Riferimento per 

feed forward 

regolazione 

coppia 

Invertire sorgente 

rif. tecnologico 

G100 

0 

Byte di 

1 

controllo G210 Bit 2 

regolatore tecn. BE1 

BE1 

BE13 

Valore eff. 

Tecnologico 

Sorgente 

0% 

AE1 

AE2 

AE3 

... 

G133 

Invertire stato rif. 


G300 

Passabasso 

Valore eff. 

Tecnologico 

G11 

- 

+ 

G180 

Errore PID 

G333 

Deviazione 

Valore effettivo 


Lettura del valore 

in G12 

Bild 2-2 Confronto riferimento-effettivo 

2.1.2 Regolatore tecnologico 

Introduzione 

La deviazione viene guidata nel regolatore PID. Qui ha luogo un guadagno globale con 

il parametro G00 (guadagno proporzionale). Infine vengono calcolate le componenti P, I 

e D. 

La componente proporzionale è determinata dal parametro G06. La comunicazione di 

questo percorso del regolatore avviene mediante G18. 

Con il parametro G02 si calcola la componente integrale. In determinate situazioni come 

l’avvio di PID oppure il raggiungimento dei limiti del regolatore PID, la componente 

integrale viene impostata su altri valori rispetto a quello calcolato in G02 (v. dettagli 

interfacce seguenti). Si può leggere in G19 l’attuale componente I. 

Nel percorso derivativo, la deviazione viene smorzata innanzitutto con un passabasso 

(costante di tempo G07). Il calcolo della componente derivativa avviene con il parametro 

G03. 

Dopo l’addizione delle componenti P, I e D si applica un limite sui valori in G08 e G09. 

Con il segnale PIDoff il valore del regolatore è impostato su 0. La sorgente del segnale 

viene selezionata nel parametro G101. 

La variabile impostabile del regolatore PID viene inoltrata alla regolazione della velocità / 

coppia. 

TR-5



STÖBER 


Regolatore PID 

Kp 2 

G06 

Comp. P 

PID 

Comp. P 

G18 

P 

Errore 

Guadagno 

proporzionale 

G00 


Ki 

G02 

Passabasso 

regolatore PID 

Comp. D 

G07 

Comp. I 

Comp. D 

PID 

Comp. I 

G19 


Kd 

G03 

I 

Calcolo in base 

al modo PID e 

ai limiti PID 

(G08, G09) 

Vedere Cap. 2.1 

PID 

0 

PID off 

(Selezione sorgente G101) 

Var. imp. 

D 

Figura 2-3: Regolatore tecnologico con funzione PID 

2.1.3 Regolazione velocità/coppia 

Introduzione 

Per un aggiornamento attuale del procedimento è possibile decidere con C61 se la 

variabile impostabile PID influenzi la coppia o la velocità. 

• Regolazione della coppia (C61=1): 

Se la coppia motore funge da variabile impostabile è possibile ponderare il feed 

forward con G15 (0 - 100%). La variabile impostabile viene ponderata con G16 

(0 - 400%). Feed forward e variabile impostabile vengono aggiunte e inoltrate come 

valore di posizione per il regolatore di coppia. 

• Regolazione della velocità (C61=0): 

Il feed forward per la regolazione della velocità avviene mediante un ramo separato. 

É possibile selezionare il segnale con D130. La ponderazione della variabile 

impostabile è inserita in G16 (0 - 400%). La somma del feed forward e della variabile 

impostabile viene ridotta in scala con D02. Infine con un segnale digitale può avvenire 

un’inversione della direzione di rotazione (selezione sorgente D100). ll valore di 

posizione così calcolato viene inoltrato al regolatore di velocità. 

Riferimento tecn. 

Feed forward 

coppia 

G15 

Riferimento per 

feed forward M 

Ponderazione 

PID 

G16 

Variabile 

impostabile 

PID 

G185 

+ 

+ 

Regol. M 

Var. imp. 

RV-relativ 

(Rif per feed forward) 

Selezione sorgente D130 

C61 

Serraggio 

n 

+ 

+ 

n (riferimento 

massimo) 

D02 

Sorgente direzione 

di rotazione 

D100 

(-1) n-Regol. 

Figura 2-4: Commutazione tra regolazione di coppia e di velocità 

TR-6



STÖBER 


2.1.4 Monitoraggio di campo 

Introduzione 

Nel parametro C41 è possibile selezionare un parametro desiderato con il formato I16 

come sorgente. Con il parametro C42 avviene uno scaling, per adattare il valore finale al 

limite superiore e inferiore. Il passabasso con la costante di tempo C43 smorza il 

segnale che può essere monitorato con C49. Il parametro C44 determina se il campo da 

monitorare è da considerare in maniera assoluta o simmetrica a 0. 

Il segnale viene paragonato al limite superiore C45 o inferiore C46. L’esito del confronto 

è riportato nel parametro C48. 

Sorgente 

monitoraggio 

campo 

C41 

Lettura del valore 

impostato in C41 

Fattore 

monitoraggio 

campo 

C42 

Passabasso 

monitoraggio 

campo 

C43 

Valore effettivo 

monitoraggio 

campo 

C49 

Modo 

monitoraggio 

campo 

C44 

Limite sup. 

monitoraggio 

campo 

C46 C180 

Comparatore 

0:C45



STÖBER 


2.2.2 Segnali d’entrata analoghi 

Segnale 

N-rif. relativo: 

Valore di 

riferimento 


Valore tecnologico 

effettivo 

Funzione 

Feed forward velocità, che viene aggiunto con il regolatore 

PID al riferimento velocità 

Sorgente di 

selezione 

Immagine su 

bus di campo 

(Bit) 

D130 D230 D330 

Valore di riferimento tecnologico (grandezza di riferimento) G132 G232 G332 

Valore tecnologico effettivo G133 G233 G333 

Parametro di 

visualizzazio 

ne 

Coppia massima Limite di coppia C130 C230 C330 

2.2.3 Segnali di uscita 

Segnale Funzione Sorgente di selezione 

Zero raggiunto 

Raggiunto 

valore di 

riferimento. 

Limite di coppia 

PIDLim+ 

PIDLim- 

RngeLim+ 

RngeLim- 

Il segnale è “1” se la velocità del motore scende 

sotto il valore indicato in C40. 

Il segnale è “1” se il n-rif E06 è uguale al valore 

n-master E161. 

Il segnale è “1” se il regolatore di velocità 

richiede una coppia maggiore di quella 

impostata in E62, E66. 

Il segnale è “1”, se il regolatore PID raggiunge il 

limite superiore. 

Il segnale è “1”, se il regolatore PID raggiunge il 

limite inferiore. 

Il segnale è “1” se è stato raggiunto il limite di 

campo superiore. 

Il segnale è “1” se è stato raggiunto il limite di 

campo inferiore. 

2.2.4 Rappresentazione elaborazione dati 

F61 … F70 in base alla 

scheda opzionale utilizzata 













Immagine su 

bus di 

campo (Bit) 

G200 Bit 0 

G200 Bit 1 

G200 Bit 2 

G200 Bit 3 

G200 Bit 4 

G200 Bit 5 

G200 Bit 6 

Parametro 

di 

visualizzaz 

ione 

D180 

D181 

D182 

G181 

G182 

G183 

G184 

I parametri nella colonna dei parametri di visualizzazione possono essere impostati in 

base al tipo di segnale (analogico o digitale) su un’uscita (vedere F40, F50, F61 … F70). 

I parametri più importanti per la 

rappresentazione 

dell’elaborazione dati 

Per il funzionamento mediante bus di campo sono addotti alcuni parametri significativi 

per la rappresentazione dell’elaborazione dati: 

• A180 Device Control Byte, 

• E200 Device Status Byte 

• G210 Byte di controllo regolatore tecnologico 

• G200 Byte di stato tecnologico 

• C230 M max 

• D230 n-rif. relativo 

• G232 Valore di riferimento tecnologico 

• G233 Valore tecnologico effettivo 

• Altri parametri di visualizzazione (ad esempio gruppo E..). 

Parametri per il 

ridimensionamento bus di campo 

Entrambi i seguenti parametri definiscono se i valori trasmessi mediante bus di campo 

nel convertitori sono scritti in formato interno (valore grezzo) o messi in scala. 

• Per PROFIBUS A100 

• Per CAN A213 

• Per EtherCAT Axxx 

TR-8



STÖBER 


2.3 Assistente per l’inserimento dei parametri 

Per poter disporre velocemente e correttamente della molteplicità dei parametri sono 

disponibili degli assistenti. 

Dopo aver terminato l’assistente di configurazione, è disponibile la seguente finestra con 

tutti gli assistenti. 

L’assistente per il riferimento rapido può essere avviato da questa finestra di dialogo 

direttamente dallo schema di progetto. 

Con il supporto degli assistenti vengono predefinite le seguenti impostazioni: 

• Sorgenti di segnale digitali 

• Sorgenti di segnale analogiche 

• Riferimenti 

• Rampe 

• Uscite digitali 

• Uscite analogiche 

• Interfacce bus 

L’assistente può essere utilizzato durante le operazioni online. 

TR-9


3. Dettagli 

STÖBER 


3 DETTAGLI 

3.1 Regolatore PID 

Descrizione 

Per il regolatore PID esistono diversi stati: 

1. Inizializzazione 

2. Funzionamento regolare 

3. Disattivato – uscita sempre su “Zero”. 

Disattivato La sorgente definita nel parametro G101 può forzare l’uscita del regolatore PID allo 0%. 

Il regolatore di velocità o coppia (vedere parametro C61) viene indirizzato in questo caso 

oltre la sorgente di feed forward impostata. Se l’uscita del regolatore PID è disattivata, 

vengono nuovamente calcolate le componenti proporzionali, integrali e derivative. 

L’uscita del regolatore PID viene disattivata anche quando è disattivata l’abilitazione 

(A900=0). Se l’uscita viene nuovamente abilitata, la componente integrale e l’uscita 

stessa vengono impostate sul valore di G13 (valore di inizializzazione PID) 

Funzionamento regolare Se il regolatore PID non è avviato mediante la sorgente selezionata nel parametro G102, 

l’uscita viene calcolata conformemente alla deviazione G180 e ai parametri regolari 

impostati. Dopo il calcolo, l’uscita del regolatore PID è limitata dai parametri G08 (limite 

superiore) e G09 (limite inferiore). Se la limitazione è attiva, la componente integrale è 

impostata in base alle seguenti condizioni: 

• Il limite superiore è stato raggiunto (G08) e la somma della componente proporzionale 

e derivativa è minore di G08, pertanto: I=G08-P-D. 

• Il limite inferiore è stato raggiunto (G09) e la somma della componente proporzionale e 

derivativa è maggiore di G09, pertanto: I=G09-P-D. 

• Il limite superiore è stato raggiunto e G08-P-D è minore di 0 oppure è stato raggiunto il 

limite inferiore e G09-P-D è maggiore di 0, pertanto la componente integrale risulta 

uguale a 0. 

ATTENZIONE 

L’uscita del regolatore PID può essere forzata solo su un valore che sia compreso tra 

G08 e G09. 

Esempio: 

se il regolatore PID è disattivato, ma il limite inferiore G09 è maggiore di 0%, l’uscita è 

forzata al limite inferiore G09 invece dello 0%. 

Inizializzazione 

Con il selettore G102 (impostare sorgente regolatore PID) si stabilisce quale percorso di 

segnale segue il regolatore PID (Preset). Il regolatore PID viene impostato anche con 

fronte decrescente di Disattivare regolatore PID (parametro di monitoraggio G301) e con 

fronte crescente dell’abilitazione (parametro A900). Questo processo di impostazione si 

differenzia tuttavia dall’inizializzazione mediante Impostare regolatore PID. Con 

l’abilitazione e l’opzione Disattivare regolatore PID viene sempre impostata l’uscita del 

regolatore PID e la componente integrale con G13 (valore di inizializzazione PID). Con 

Impostare regolatore PID, il regolatore PID viene avviato in base al parametro G14 

(modalità PID). L’impostazione di G14 serve a influenzare l’uscita del regolatore PID e 

l’andamento della componente integrale in base all’applicazione dell’inizializzazione. 

È possibile riscontrare le seguenti impostazioni: 

• 0:normale 

• 1:uscita = componente integrale = 0 

• 2:uscita = componente integrale l= G13 

• 3:uscita = G13; componente integrale = uscita – P 

• 4:uscita = PID; componente integrale = G13 

TR-10


3. Dettagli 

STÖBER 


G14 = 

0: Normale 

Con G14=0 non viene avviata alcuna inizializzazione nel funzionamento regolare 

mediante Impostare regolatore PID. 

G14 = 

1: uscita=componente integrale=0 

Con G14=1 e con il segnale presente Impostare regolatore PID, l’uscita e la componente 

integrale vengono mantenute allo 0%. 

Applicazione pratica: 

il segnale Impostare regolatore PID è presente prima dell’abilitazione e rimane 

impostato. Viene concessa l’abilitazione e il motore viene elettrificato. 

Indipendentemente dall’errore, l’uscita PID e la componente integrale rimangono allo 

0%. Il motore viene azionato solamente con il feed forward. Se il sistema è stabile e non 

oscilla, la regolazione PID può essere terminata con la rimozione del segnale Impostare 

regolatore PID. 

G14 = 

2: uscita=componente 

integrale=G13 

G14 = 

3: uscita=G13; componente 

integrale=uscita – P 

G14 = 

4: uscita=PID; componente 

integrale=G13 

Con G14=2 e con il segnale presente Impostare regolatore PID, l’uscita e la componente 

integrale vengono mantenute al valore impostato in G13 (valore di avvio PID). 


durante il regolare funzionamento è possibile impostare l’uscita e la componente 

integrale nuovamente sulle condizioni iniziali mediante Impostare regolatore PID, come 

per Abilitazione attiva. 

Con G14=3 e con il segnale presente Impostare regolatore PID, l’uscita viene mantenuta 

al valore impostato in G13 (valore di avvio PID) e la componente integrale è impostata al 

valore PID - P. 


durante il regolare funzionamento è possibile congelare l’uscita sul valore impostato in 

G13 mediante il segnale Impostare regolatore PID e la componente integrale è 

impostata conformemente alla componente proporzionale. È possibile tornare al 

funzionamento regolare. 

Con G14=4 e con un segnale presente Impostare regolatore PID si calcola l’uscita in 

base alla deviazione G180, al guadagno proporzionale G06 e ad una componente 

integrale fissa (G19=G13). La componente integrale viene mantenuta al valore 

impostato in G13 (Valore di avvio PID). 


durante il funzionamento regolare è possibile disattivare la componente integrale 

mediante il segnale Impostare regolatore PID e G13=0% e attivare la regolazione 

solamente con la componente proporzionale. Ciò può risultare utile in caso di analisi 

delle oscillazioni. 

PID=P+I+D 

PID=0 

I=0 

PID= G13 

I= G13 

PID= G13 

I= G13 - P 

PID=P+ G13+D 

I= G13 

Modalità PID 

0 

1 

2 

3 

G14 

4 

Limite superiore 

Impostare sorgente 

regolatore 

regolatore PID (G102) 

PID 

0 

G08 

1 

PID 

G09 

Limite inferiore 

regolatore 

PID 

Figura 3-1: avvio del regolatore PID. 

TR-11


3. Dettagli 

STÖBER 


3.2 Regolatore di velocità 

Introduzione 

Per un funzionamento ottimale, il regolatore di velocità deve essere compensato in base 

alle condizioni di carico. Come mezzi di supporto, in POSITool sono a disposizione uno 

scope e un generatore di riferimento (vedere Capitolo 5 Manuale delle applicazioni). Per 

una migliore comprensione per funzionamento tecnico viene di seguito fornita la struttura 

del regolatore di velocità. 

n-rifer. 

Passab. 

C33 

Tempo di regol. 

n-regolatore 

Guadagno 

proporz. 

C32 

n-regolatore 

C31 

Filtro rif 

coppia 

C37 

Filtro passab. 

Rif. Coppia pas. 

C36 

E161 

n-master 

E07 

n-postrampa 

100% - C37 

E170 

Rif. coppia 

E91 

n-motore 

C34 

Passabasso 

Velocità eff. 

motore 

Figura 3-2: struttura del regolatore di velocità 

Descrizione 

La dinamica del regolatore di velocità dipende in primo luogo dai parametri C31 

(guadagno proporzionale n-regolatore) e C32 (tempo di regolazione n-regolatore) Essi 

specificano il guadagno proporzionale e integrale del regolatore di velocità. Un 

guadagno troppo elevato comporta oscillazioni del motore. Un guadagno basso riduce la 

dinamica. Generalmente possono essere mantenute le impostazioni di default. Se 

necessario modificare innanzitutto C31. C32 influenza la “rigidità del carico”. 

C36 permette di filtrare il segnale di coppia. Mediante il parametro C37 è possibile 

impostare quale percentuale del segnale viene filtrata. Con C37=0 il riferimento coppia 

viene trasmesso senza essere filtrato, mentre con C37=100 lo stesso segnale viene 

filtrato. 

TR-12


3. Dettagli 

STÖBER 


3.3 Funzionamento locale 

Introduzione 

Nell’applicazione Regolatore tecnologico sono disponibili le seguenti funzioni sul quadro 

di comando: 

• Reset degli errori con il tasto ESC . 

• Inserimento parametri 

• Funzionamento locale con il tasto . 

Funzionamento locale Per poter accedere al funzionamento locale, è necessario premere il tasto . Infine è 

possibile selezionare le seguenti funzioni da tastiera: 

• Con il tasto I/O si attiva e disattiva l’abilitazione del regolatore. 

• Premendo il tasto ESC 

, il motore si arresta. 

• Con i tasti viene seguita la velocità fornita in A51, fintanto che il tasto rimane 

premuto. Il valore in A52 indica la rampa di accelerazione e decelerazione. 

• Con i tasti -viene simulato un potenziometro motorizzato). Il valore in 

A52 indica la rampa di accelerazione e decelerazione. 

ATTENZIONE 

Il funzionamento locale deve essere applicato solamente nella regolazione della velocità. 

Se si desidera passare al funzionamento locale, impostare sempre C61=0:non attivo. 

ATTENZIONE 

Se il dispositivo rimane nello stato Blocco accensione, poiché viene raggiunto con 

l’abilitazione data (con abilitazione funzionamento bus e abilitazione addizionale) e viene 

infine cambiato in funzionamento locale, il convertitore è abilitato quando il 

funzionamento locale viene abbandonato! Ciò può comportare movimenti del motore. 

3.4 Arresto rapido A45 

Descrizione 

Il parametro A45 definisce l’arresto rapido. É possibile selezionare le seguenti 

impostazioni: 

• 0: zero raggiunto 

• 1:senza stop 

Selezionando “0: zero raggiunto” viene terminato l’arresto rapido quando il motore si 

arresta. Con l’impostazione “1:senza stop” l’arresto rapido viene terminato non appena il 

segnale di arresto rapido non è più presente. 

Arr.rapido 

n-Mot 

con 

A45=1 

n-Mot 

con 

A45=0 

Figura 3-3: in arresto rapido conformemente all’impostazione del parametro A45 

TR-13


3. Dettagli 

STÖBER 


3.5 Controllo Emergenza NOTAUS 

Introduzione 

Per poter disattivare il motore con Emergenza NOTAUS, STÖBER propone il seguente 

procedimento di controllo: 

Attenzione: solo i dispositivi con l’opzione “/L” (immissione 24 V) sono disponibili 

mediante interfaccia o bus di campo dopo la disattivazione 

dell’alimentazione. 

Arr.rapido 

n-Mot 

Abilitazione 

Rete 

U ZK 

A35 

7 

Arresto rapido 

attivo 

E48 

4 

3 

2 

1 

Abilitato 

Pronto 

all’arresto Blocco 

accensione; 

Figura 3-4: controllo del convertitore in NOTAUS 

(proposta di STÖBER ANTRIEBSTECHNIK) 

Scadenza 

Per rispettare una scadenza definita, il segnale di Emergenza NOTAUS genera un 

arresto rapido. Se la velocità è pari a zero, l’abilitazione viene disattivata. Infine può 

essere rimossa anche l’alimentazione. Il diagramma tensione circuito intermedio (U ZK ) e 

lo stato del dispositivo E48 mostrano i seguenti stati del convertitore. Se la tensione è 

disattivata, la tensione del circuito intermedio diminuirà. Se raggiunge il valore in A35, il 

convertitore passa allo stato Blocco accensione. 

TR-14


3. Dettagli 

STÖBER 


3.6 Limite di coppia 

Introduzione 

La dinamica del cambiamento di velocità può essere limitata mediante il limite di coppia. 

Sono diversi i meccanismi che limitano la coppia. 

• Il segnale della sorgente di coppia massima in C130. 

• I parametri C03 e C05. 

• Il modello i 2 t del convertitore (modello per il calcolo del riscaldamento del dispositivo). 

I valori impostati in questi parametri vengono confrontati. Il valore minore viene utilizzato 

per il limite di coppia. 

I parametri digitali E180 e E181 mostrano se la coppia richiesta è superiore al valore 

massimo consentito (C330). 

Sorg. M- 

max 

C130 

0% 

C230 

AE1 

AE2 

AE3 

C06 

C03 

i²t 

Fattore limite 

coppia 

min 

M-Max 

Pos. M-Max 

Limite 

raggiunto 

E180 

Pos. Att. 

M-max 

E62 

M-rif 

0% 

C230 

AE1 

AE2 

AE3 

Invertitore 

(-1) 

C05 

i²t 

Figura 3-5: limiti di coppia 

max 

M-Min 

E181 

Limite neg 

raggiunto 

M-Max 

E66 

M-max att. 

Neg. 

3.7 Ingressi e uscite analogiche 

3.7.1 Ingressi analogici 

Livello AE1 Offset AE1 

E10 

F11 

Fattore AE1 

F12 

X100.1 

AE1 

X100.3 

16384 = 100% 

max = ±200% 


E11 

F21 

Fattore AE2 

F22 

X100.4 

AE2 

X100.5 

16384 = 100% 

max = ±200% 


E74 

F31 

Fattore AE3 

F32 

* X102.1 

AE3 

X102.2 

16384 = 100% 

max = ±200% 

* solo in relazione a XEA 5001 

Figura 3-6: struttura degli ingressi analogici 

TR-15


3. Dettagli 

STÖBER 


3.7.2 Uscite analogiche 

Sorg. uscita 

analogica 1 

F40 

Fattore uscita 

analogica 1 

F42 

Offset uscita 

analogica 1 

F41 

Livello uscita 

analogica 1 

E16 

AA1 X100.6 

Sorg. uscita 

analogica 2 

F50 

Fattore uscita 

analogica 1 

F52 

in % 

Offset uscita 

analogica 1 

F51 

in V 

Figura 3-7: struttura delle uscite analogiche 

Livello uscita 

analogica 1 

E28 

AA2 X100.7 

3.8 Eventi 

Introduzione 

Fault esterno: 

Fault 

44:Text from U180 

Nell’applicazione Regolatore tecnologico può essere generato il fault “44:fault esterno“ 

mediante un segnale esterno. Ciò può avvenire mediante bus o ingresso digitale 

(parametro di selezione D101): 

Attivazione: Evento applicazione 

Livello: 

Fault 

Reset: 

Accensione/spegnimento del dispositivo o reset programmato. 

Altro: 

usato solo per fault che non 

possono essere impostati ad un livello inferiore di quello “fault”. 

Contatore eventi: Z44 

3.9 Comunicazione con CAN 

Introduzione 

Esempio 

Sull’interfaccia del bus di campo CAN sono disponibili: 

• Dati EDS 

• Due canali PDO (tx / rx). 

• Un canale PDO (tx / rx). 

• Altri tre canali PDO (tx / rx) al bisogno. 

Cfr. Documentazione CANopen, Impr.-n° 441684 [D]. 

Viene di seguito riportato un semplice esempio di mapping per CANopen. 

Campo di ricezione del convertitore Controllo Convertitore 

Impostazione 

Lunghezza 

parametri 

[Byte] 

Spiegazione 

A225.0 = A180 1 Device Control Byte 

A225.1 = G210 1 Byte di controllo regolatore tecnologico 

A225.2 = G232 2 Valore di riferimento tecnologico 

A225.x 

Fino ad una lunghezza complessiva di 8 Byte 

possono seguire ulteriori dati. 

Campo di invio del convertitore Convertitore Controllo 

Parametro 

Lunghezza 

[Byte] 

Spiegazione 

A233.0 = E200 1 Device Status Byte 

A233.1 = G200 1 Byte di stato regolatore tecnologico 

A233.2 = G233 2 Valore tecnologico effettivo 

A233.x 

Fino ad una lunghezza complessiva di 8 Byte 

possono seguire ulteriori dati. 

La commutazione tra valore grezzo e funzionamento bus viene impostata nel parametro 

A213 (una descrizione più dettagliata è disponibile nel Manuale CANopen, Impr.-Nr. 

441684 [D]). 

TR-16


3. Dettagli 

STÖBER 


3.10 Comunicazione con PROFIBUS 

Introduzione 

Sull’interfaccia del bus di campo PROFIBUS sono disponibili: 

• Dati GSD 

• PPO 1: 4 PKW, 2 PZD 




• PPO 5: 4 PKW, 10 PZD 

• Il sostegno del protocollo DP-V1. 

Cfr. Documentazione DP PROFIBUS, Impr.-n° 441685 [D]. 

Viene di seguito riportato un semplice esempio di mapping per PROFIBUS. 

Campo di ricezione del convertitore Controllo Convertitore 

Parametro 

Lunghezza 

[Byte] 

Spiegazione 

A90.0 = A180 1 Device Control Byte 

A90.1 = G210 1 Byte di controllo regolatore tecnologico 

A90.2 = G232 2 Valore di riferimento tecnologico 

A90.x 

Possono seguire ulteriori dati. 

Campo di invio del convertitore Convertitore Controllo 

Parametro 

Lunghezza 

[Byte] 

Spiegazione 

A94.0 = E200 1 Device Status Byte 

A94.1 = G200 1 Byte di stato regolatore tecnologico 

A94.2 = G233 2 Valore tecnologico effettivo 

A94.x 

Possono seguire ulteriori dati. 

La commutazione tra valore grezzo e funzionamento bus è impostata nel parametro 

A100. Per un andamento con ottimizzazione dei tempi si consiglia il funzionamento con 

valori grezzi (per una descrizione più dettagliata consultare il Manuale PROFIBUS DP, 

Impr.-Nr. 441685 [D]). 

STÖBER ANTRIEBSTECHNIK mette a disposizione un progetto esemplificativo per il 

controllo Siemens S7, che chiarisce la comunicazione e l’Handshake. 

3.11 Comunicazione con EtherCAT 

Introduzione 

Sull’interfaccia del bus di campo EtherCAT sono a sua disposizione: 

• Due canali PDO (tx / rx). 

• Un canale PDO (tx / rx). 

Cfr. Documentazione EtherCAT, Impr.-n° 441895 [D]. 

TR-17


3. Dettagli 

STÖBER 


3.12 Visione generale della struttura del regolatore tecnologico 

+ 

G185 

D130 

D100 

n-rif 

D330 

+ 

0 

1 

G210 Bit 0 

BE1 

BE1 

... 

G08 

G09 

G15 

G101 G16 C61 

0 

0% 

AE1 

AE2 

AE3 

D230 

BE13 

+ 

G132 

1 

0 

+ 

TR-18 

G332 

(-1) 

0% 

AE1 

AE2 

AE3 

G232 

G06 

G18 

n 

(rif-Max) 

D02 

(-1) 

Sorgente 

Rif tecnologico 

Stato 



Kp 2 

PID 

Comp P 

Riferimento 


P 

Invertire 

sorgente rif 


G100 

0 

1 

PID 

Comp. I 

Regol. PID 

Ki 

GUadagno 

G210 Bit 2 

G02 

G00 

Errore 

Regol. PID 

G300 

G19 

Regolatore 

PID 

Limite sup. 

G180 


PID 

Limite inf. 

n-rif.: 

Relat. 

Byte 

controllo 

Regolat. 

Tecn. 


Feed forward coppia 

Sorg. 

PID-off Ponderazion 

e PID: n-fiss. 

Variabile 

impostabile 

PID 

RV-relativ 

(Rif per feed 

forward) 

sorgente 

Direzione di 

rotazione 

Regol. M 

n-Regol. 

BE1 

BE1 

Byte controllo 



... 

Ved. 

Cap. 

2.1 

I 

+ 

Invertire stato rif 


BE13 

- 

Regol.PID 

Comp. D 

Passabasso Regol.PID 

Kd 

G07 G03 

Valore 


effettivo 

Tiefpass 

G11 

Sorgente 

Tecnologia 

“Valore 

effettivo 

tecnologico”. 

G133 

D 

“Valore effettivo 

tecnologico”. 

G333 

0% 

AE1 

AE2 

AE3 

Leggere valore 

G12 

Modo 

monitoraggio 

campo 

“Valore eff. 

Tecn.”monitor. 

campo 

Passabasso 

monitoraggio 

campo 

C49 

C43 

Fattore 

monitoraggio 

campo 

C42 

Status 

monitoraggio 

campo 

C44 

Leggere 

valore in 

C41 

Sorgente 

monitoraggio 

campo 

C41 

C48 

Comparatore 

0:C45C46 

1:InC46

Fast Reference Value – 5th Generation of STÖBER Inverters 

4. Used Parameters 

STÖBER 


4 USED PARAMETERS 

4.1 Parameter legend 

Par. Description Fieldbus 

address 

C230 Torque limit: Specification for the torque limit (absolute value) via fieldbus if the signal source is 24E6h 

C130=4:Parameter. 

Global 

r=2, w=2 

Value range in %: -200 to 200 to 200 

Fieldbus: 1LSB=1·%; PDO ; type: I16; (raw value:32767 = 200 %); USS address: 03 39 80 00 hex 

0h 

Global – Parameter is not dependent on 

axis. 

Achse – Parameter is axis-specific. 

Off – Parameter can only be changed 

when enable is off. 

Value range: 

Specification of unit, minimum 

and maximum value 

The default setting is 

underlined. 

PROFIBUS = PNU (PKW1) 

CAN-Bus = Index 

PROFIBUS = Subindex 

CAN-Bus = Subindex 

Access level for read (r=2) and 

write accesses (w=2) 

Fieldbus: 

1st position: Scaling for integer (PROFIBUS and CAN bus) 

2nd position: - PDO – Parameters can be imaged as process data. 

- Blank – Parameter can only be accessed via PKW (PROFIBUS) or SDO 

(CAN bus). 

3rd position: Data type. See application manual, chapter 3.2. 

4th position: Scaling for raw values 

5th position: USS address 

4.2 Parameter list 

A.. Inverter 

Par. Description Fieldbusaddress 

A00.0 Save values & start: When this parameter is activated, the inverter saves the current 

2000h 0h 

configuration and the parameter values in the Paramodule. After power-off, the inverter starts with 

Global 

the saved configuration. If the configuration data on the inverter and Paramodul are identical, only 

r=0, w=0 the parameters are saved (speeds up the procedure). 

NOTE 

Do not turn off the power of the control section (device version /L:24 V, device version /H: supply 

voltage) while the action is being executed. If the power is turned off while the action is running this 

causes incomplete storage. After the device starts up again the fault "*ConfigStartERROR 

parameters lost" appears on the display. Only several 1000 storage procedures are possible per 

Paramodul. When this limit has almost been reached, result 14 is indicated after the storage 

procedure. When this happens, replace Paramodul as soon as possible. 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 00 00 00 hex 

A00.1 

Global 

Process: Shows the progress of the "save vales" action in %. 

Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 01 00 00 01 hex 

2000h 

1h 

read (0) 

A00.2 

Global 

read (0) 

Result: Result of the "save values" action 

0: error free; 

10: write error; 

11: invalid data; 

12: write error; 

14: warning; 

2000h 

2h 


TR-19



STÖBER 


A.. Inverter 


A10.0 Userlevel: Specifies the access level of the user for the parameters via the "Display" 

200Ah 0h 

communication path. Each parameter has one level for read or write accesses. A parameter can 

Global 

Array 

only be read or changed with the necessary access level. 

r=0, w=0 The higher the set level the more parameters can be accessed. 

Possible settings: 

0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 

1: Standard; The primary parameters of the selected application can be monitored and changed. 

2: Extended; All parameters for commissioning and optimization of the selected application can be 

monitored and changed. 

3: Service; Service parameters. Permit a comprehensive diagnosis. 

Value range: -32768 ... 1 ... 32767 

Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 00 hex 

A10.1 

Global 

r=0, w=0 

Userlevel: Specifies the access level of the user for the parameters via the RS232 (X3) 

communication path. Each parameter has one level each for read or write accesses. A parameter 

can only be read or changed with the necessary access level. 

The higher the set level the more parameters can be accessed. 

200Ah 

Array 

1h 







Value range: -32768 ... 3 ... 32767 


A10.2 

Global 

r=0, w=0 

Userlevel: Specifies the access level of the user for the parameters via the CAN-bus (SDO) 




200Ah 

Array 

2h 







Value range: -32768 ... 3 ... 32767 


A10.3 

Global 

r=0, w=0 

Userlevel: Specifies the access level of the user for the parameters via the PROFIBUS 

communication path with the PKW0 or PKW1 protocol. Each parameter has one level each for read 

or write accesses. A parameter can only be read or changed with the necessary access level. 


200Ah 

Array 

3h 







Value range: -32768 ... 3 ... 32767 


TR-20



STÖBER 


A.. Inverter 


A10.4 Userlevel: Specifies the access level of the user for the parameters via the "system bus" 

200Ah 4h 


Global 

Array 


r=0, w=0 The higher the set level the more parameters can be accessed. 







Value range: -32768 ... 3 ... 32767 


A11.0 

Global 

r=1, w=1 

Edited Axe: Specifies the axis to be edited via device display. Axis to be edited (A11) and active 

axis (operating indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter 

continues with axis 2). 

Value range: 0 ... 0: axis 1 ... 3 

200Bh 

Array 

0h 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 00 hex 

A11.1 

Global 

r=1, w=1 

Edited Axe: Selects the axis to be parameterized which is addressed with CANopen with SDO 

channel 1 or with PROFIBUS DP-V0. The axis to be edited (A11) and the active axis (operation 

indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter continues with 

axis 2). With PROFIBUS DP-V0, a distinction can be made between two axes with the PKW 

service. Axis 1 or axis 2 is selected with A11.1=0. Axis 3 or axis 4 is selected with A11.1=1. 

200Bh 

Array 

1h 



A11.2 

Global 

r=1, w=1 


channel 2. The axis to be edited (A11) and the active axis (operation indicator, E84) must not be 

identical (e.g., axis 1 can be edited while the inverter continues with axis 2). 


200Bh 

Array 

2h 


A11.3 

Global 

r=1, w=1 





200Bh 

Array 

3h 


A11.4 

Global 

r=1, w=1 





200Bh 

Array 

4h 


A12 

Language: Language on the display. 

200Ch 

0h 

Global 

r=1, w=1 

0: German/primary language; 

1: English/secondary language; 


A21 

Brake resistor R: Resistance value of the brake resistor being used. 

2015h 

0h 

Global, OFF 

Value range in Ohm: 200.0 ... 300,0 ... 600.0 

r=1, w=2 

Fieldbus: 1LSB=0,1Ohm; Type: I16; USS-Adr: 01 05 40 00 hex 

TR-21



STÖBER 


A.. Inverter 


A22 Brake resistor P: Power of the brake resistor used. A22=0 means the brake chopper is 

2016h 0h 

deactivated. Only values in 10 W increments can be entered. 

Global, OFF 

r=1, w=2 

Value range in W: 0 ... 250 ... 3200 

Fieldbus: 1LSB=1W; Type: I16; (raw value:1LSB=10·W); USS-Adr: 01 05 80 00 hex 

A23 

Brake resistor thermal: Thermal time constant of the brake resistor. 

2017h 

0h 

Global, OFF 

Value range in s: 1 ... 40 ... 2000 

r=1, w=2 

Fieldbus: 1LSB=1s; Type: I16; USS-Adr: 01 05 C0 00 hex 

A29 

Global 

r=2, w=2 

Fault quick-stop: If the parameter is inactive, the power section is turned off when a fault 

occurs. The motor coasts down. If the parameter is active, a quick stop is executed when a fault 

occurs if the event permits (see event list). 

0: inactive; Coast down (disable power section immediately). 

1: active; Execute quick stop. 

201Dh 

0h 


A34 

Global 

r=2, w=2 

Auto-start: When A34=1 is set, the device state "switch-on disable" to "ready for switch-on" is 

exited both during first startup and after a fault reset although the enable is active. With fault reset 

via enable, this causes an immediately restart! A34 is only supported with standard device state 

machines and not with DSP402 device state machine. 

2022h 

0h 

WARNING 

Before activation of auto-start with A34=1, check to determine whether an automatic restart is 

allowed (for safety reasons). Only use auto-start under consideration of the standards and 

regulations which are applicable to the plant or machine. 

0: inactive; After power on, a change of the enable from L-level to H-level is necessary to enable 

the drive (→ message "1:switch-on disable"). This prevents an undesired startup of the motor 

(machine safety). 

1: active; If auto-start is active, the drive can start running immediately after power on and existing 

enable. 


A35 

Global, OFF 

r=2, w=2 

Low voltage limit: When the inverter is enabled and the DC link voltage goes lower than the 

value set here, the inverter triggers the indication of the event "46:Low voltage." A35 should be 

approximately 85% of the applied power voltage so that the possible failure of a network phase is 

absorbed. 

2023h 

0h 

Value range in V: 180.0 ... 350,0 ... 570.0 

Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 01 08 C0 00 hex 

A36 

Global, OFF 

r=2, w=2 

Mains voltage: Maximum voltage which the inverter provides to the motor. Usually the power 

(mains) voltage. Starting with this voltage, the motor runs in the weak field range. 

Value range in V: 220 ... 400 ... 480 

Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 2317 V); USS-Adr: 01 09 00 00 hex 

2024h 

0h 

A37.0 

Global 

r=2, w=2 

Reset memorized values & start: The six different memorized values E33 to E38 (max. 

current, max. temperature, and so on) are reset. 


2025h 

0h 

A37.1 

Global 

Process: Progress of the reset-memorized-values action in %. 


2025h 

1h 

read (2) 

A37.2 

Result: After conclusion of the reset-memorized-values action, the result can be queried here. 

2025h 

2h 

Global 


read (2) 


TR-22



STÖBER 


A.. Inverter 


A39 t-max. quickstop: Maximum time available to a quick stop during enable=LOW or in the device 2027h 0h 

state "fault reaction active." After this time expires, the motor is de-energized (A900 = low). This 

Global 

switch-off also occurs even when the quick stop has not yet been concluded. 

r=2, w=2 

Value range in ms: 0 ... 400 ... 32767 

Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 01 09 C0 00 hex 

A41 

Global 

read (1) 

Axis-selector: Indicates the selected axis. 

The selected axis does not have to be the active axis. 

0: Axis 1; 

1: Axis 2; 

2: Axis 3; 

3: Axis 4; 

4: inactive; The last selected axis was axis 1. 




2029h 

0h 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0A 40 00 hex 

A44 

Global 

r=2, w=3 

Enable quick-stop: If the parameter is inactive, the power pack is turned off immediately when 

enable=LOW. The motor coasts down. When A44 is active, a quick stop is executed when 

enable=LOW. 

0: inactive; 

1: active; 

202Ch 

0h 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0B 00 00 hex 

A45 

Global 

r=2, w=2 

Quickstop end: When this parameter is set to "0:Standstill," the quick stop ends with standstill. 

With the setting "1:No stop," the quick stop ends when the quick stop request is deleted. 

0: standstill; 

1: no stop; 

202Dh 

0h 


A51 

Global 

r=2, w=2 

Local reference value: When local mode has been activated with the Hand key of the operator 

panel, the local reference value A51 is used for tipping (inching) (arrow key ">" ref. value = +A51, 

arrow key "



STÖBER 


A.. Inverter 


A60 Additional enable source: The additional enable signal functions the same as the enable 203Ch 0h 

signal on terminal X1. Both signals are AND linked. The power end state of the inverter is only 

Global, OFF 

enabled when both signals are HIGH. 

r=1, w=1 The A60 parameter specifies where the additional enable signal comes from. The selection 

"1:High" has the same meaning as a fixed value. With A60=1:High, only the enable via the terminal 

is active. With A60=3:BE1 ... 28:BE13-inverted, the additional enable is fed by the respective binary 

input (either direct or inverted). With A60=2:Parameter, the signal comes from bit 0 in parameter 

A180 Device Control Byte (global parameter). 

1: High; 

2: parameter; 

3: BE1; 

4: BE1-inverted; 

5: BE2; 


7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 


Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F 00 00 hex 

A61 

Global, OFF 

r=1, w=1 

Fault reset source: The fault reset signal triggers a fault reset. If the inverter has a malfunction, 

a change from LOW to HIGH resets this fault. The fault reset is not possible as long as A00 Save 

values is active or the cause of the fault still exists. Remember that not every fault can be 

acknowledged. 

The A61 parameter specifies where the fault reset signal comes from. With "0:Low" and "1:High," a 

fault reset is only possible with the key at the device operator panel or with a LOW-HIGH- 

LOW change of the enable. With A61=3:BE1 ... 28:BE13-inverted, faults can be reset via the 

selected binary input. 

With A61=2:Parameter, the signal comes from bit 1 of parameter A180 Device Command Byte 

(global parameter). 

203Dh 

0h 

0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 


7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 

TR-24



STÖBER 


A.. Inverter 



15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 



A62 

Global, OFF 

r=1, w=1 

Quick stop source: The quick stop signal triggers a quick stop of the drive. With positioning 

mode, the acceleration specified in I11 determines the braking time. When the axis is in speed 

mode, the D81 parameter determines the braking time. (See also A39 and A45.) 

The A62 parameter specifies where the signal is coming from which causes the quick stop. "0:Low" 

means that no quick stop is executed. "1:High" means that the drive is permanently in quick stop 

mode. With A62=3:BE1 ... 28:BE13-inverted, the quick stop is triggered by the selected binary 

input. With A62=2:Parameter, A180 bit 2 is used as the signal source (global parameter). 

203Eh 

0h 

0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 


7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 



TR-25



STÖBER 


A.. Inverter 


A63 Axis selector 0 source: There are 2 "axis selector 0/1" signals with which one of the max. of 4 203Fh 0h 

axes are selected in binary coding. The A63 parameter specifies where bit 0 for the axis selection is 

Global, OFF 

coming from. The possible selections "0:Low" and "1:High" are the same as fixed values. With 

r=1, w=1 A63=0:Low, the bit is set permanently to 0. With A63=1:High, it is permanently set to 1. With 

A63=3:BE1 ... 28:BE13-inverted, the axis selection can be made via the selected binary input. With 

A63=2:Parameter, A180, bit 3 is used as the signal source (global parameter). 

NOTE 

- Axis switchover only possible with "enable off" 

- With the FDS 5000, the axes can only be used as parameter records for a motor. The 

POSISwitch ® AX 5000 option cannot be connected. 

0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 


7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 


Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F C0 00 hex 

A64 

Global, OFF 

r=1, w=1 

Axis selector 1 source: There are 2 "axis selector 0/1" signals with which one of the max. of 4 

axes are selected in binary coding. The A64 parameter specifies where bit 0 for the axis selection is 

coming from. The possible selections "0:Low" and "1:High" are the same as fixed values. With 

A64=0:Low, the bit is set permanently to 0. With A64=1:High, it is permanently set to 1. With 

A64=3:BE1 ... 28:BE13-inverted, the axis selection can be made via the selected binary input. With 

A64=2:Parameter, A180, bit 4 is used as the signal source (global parameter). 

2040h 

0h 

NOTE 




0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 


7: BE3; 


TR-26



STÖBER 


A.. Inverter 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 



A65 

Global, OFF 

r=1, w=1 

Axis disable source: The axis-disable signal deactivates all axes. The A65 parameter specifies 

where the signal comes from. With A65=3:BE1 ... 28:BE13-inverted, axis selection can be handled 

with the selected binary input. 

With A65=2:Parameter, A180, bit 5 is the signal source (global parameter). 

2041h 

0h 

NOTE 




0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 


7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 



TR-27



STÖBER 


A.. Inverter 


A80 

Global 

r=2, w=2 

Serial address: Specifies the address of the inverter for serial communication via X3 with 

POSITool or another USS master. 

Value range: 0 ... 0 ... 31 


2050h 0h 

A81 

Global 

r=1, w=1 

Serial baudrate: Starting with V 5.1, writing to A81 no longer changes the baud rate immediately 

but now not until after device OFF-ON (previously with A00 save values) or A87 activate serial 

baud rate = 1 (activate baud rate). 

This makes the reaction identical to that of the fieldbuses. 

2051h 

0h 

0: 9600 Baud; 

1: 19200 Baud; 

2: 38400 Baud; 

3: 57600 Baud; 

4: 115200 Baud; 


A82 

Global 

r=0, w=0 

CAN baudrate: Setting of the baud rate with which the CAN-Bus will be operated. Cf. CAN-Bus 

supplementary documentation, publ. no. 441686. 

0: 10 kBit/s; 

1: 20 kBit/s; 

2: 50 kBit/s; 

3: 100 kBit/s; 

4: 125 kBit/s; 

5: 250 kBit/s; 

6: 500 kBit/s; 

7: 800 kBit/s; 

8: 1000 kBit/s; 


Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option 

module 2 in the device configuration. 

2052h 

0h 

A83 

Global 

r=0, w=0 

Busaddress: Specifies the device address for operation with fieldbus. A83 has no effect on 

communication via X3 with POSITool or another USS master. 

Value range: 0 ... 1 ... 125 


2053h 

0h 

A84 

Global 

read (0) 

PROFIBUS baudrate: When operated with a device of the 5th generation of STÖBER inverters 

with option board "PROFIBUS DP," the baud rate found on the bus is indicated. Cf. PROFIBUS 

supplementary documentation publ. no. 441687. 

0: Not found; 

1: 9.6kBit/s; 

2: 19.2kBit/s; 

3: 45.45kBit/s; 

4: 93.75kBit/s; 

5: 187.5kBit/s; 

6: 500 kBit/s; 

7: 1500kBit/s; 

8: 3000kBit/s; 

9: 6000kBit/s; 

10: 12000kBit/s; 


Only visible when a PROFIBUS device controller is selected in the device configuration or the 

appropriate blocks were used with the option for free, graphic programming. 

2054h 

0h 

A85 

Global 

read (3) 

PROFIBUS diagnostic: Indication of internal inverter diagnostic information on the PROFIBUS 

DP interface. See separate supplementary documentation (publ. no. 441687). 




2055h 

0h 

TR-28



STÖBER 


A.. Inverter 


A86 PROFIBUS configuration: The inverter offers various ways (PPO types) to transfer cyclic user 2056h 0h 

data via PROFIBUS DP. These can be configured in the GSD file STOE5005.gsd on the controller 

Global 

(bus master). This indication parameter can be used to check which of the possible configurations 

read (1) was chosen. 

0: No data communication via PROFIBUS started 

1: PPO1: 4 PKW, 2 PZD 




5: PPO5: 4 PKW, 10 PZD 

6: PPO2: 4 PKW, 6 PZD consis. 2 W 






A87 

Global 

r=3, w=3 

Activate serial baudrate: Starting with V 5.1, writing in A81 no longer changes the baud rate 

immediately. The change now takes place only after device OFF/ON or A87=1 (activate baud rate). 

This makes the reaction the same as the reaction of the fieldbuses. 


2057h 

0h 

A90.0 

Global 

r=1, w=1 

PZD Setpoint Mapping Rx 1. mapped Parameter: Address of the parameter which is 

imaged first from the contents of the process data channel (receiving direction as seen by the 

inverter). 

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 80 00 hex 

205Ah 

0h 

A90.1 

Global 

r=1, w=1 


imaged second from the contents of the process data channel (receiving direction as seen by the 

inverter). 


205Ah 

1h 

A90.2 

Global 

r=1, w=1 


imaged third from the contents of the process data channel (receiving direction as seen by the 

inverter). 


205Ah 

2h 

A90.3 

Global 

r=1, w=1 


imaged fourth from the contents of the process data channel (receiving direction as seen by the 

inverter). 


205Ah 

3h 

A90.4 

Global 

r=1, w=1 


imaged fifth from the contents of the process data channel (receiving direction as seen by the 

inverter). 


205Ah 

4h 

A90.5 

Global 

r=1, w=1 


imaged sixth from the contents of the process data channel (receiving direction as seen by the 

inverter). 


205Ah 

5h 

A91.0 

Global 

r=3, w=3 

PZD Setpoint Mapping 2Rx 1. mapped Parameter: If more parameters are to be imaged 

than can be specified in A90, this parameter offers a possible extension. See A90.0. 

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 C0 00 hex 

205Bh 

0h 

TR-29



STÖBER 


A.. Inverter 


A91.1 

Global 

r=3, w=3 

PZD Setpoint Mapping 2Rx 2. mapped Parameter: For extension of A90, see A90.1. 


205Bh 1h 

A91.2 

PZD Setpoint Mapping 2Rx 3. mapped Parameter: For extension of A90, See A90.2. 

205Bh 

2h 

Global 


r=3, w=3 

A91.3 


205Bh 

3h 

Global 


r=3, w=3 

A91.4 


205Bh 

4h 

Global 


r=3, w=3 

A91.5 


205Bh 

5h 

Global 


r=3, w=3 

A93 

Global 

read (1) 

PZD Setpoint Len: Indicator parameter which indicates the length in bytes of the expected 

process data with reference values (data from PROFIBUS master to inverter) for the current 

parameterization. 




205Dh 

0h 

A94.0 

Global 

r=1, w=1 

PZD ActValue Mapping Tx 1. mapped Parameter: Address of the parameter which is 

imaged first in the contents of the process data channel (sending direction as seen by the inverter). 


205Eh 

0h 

A94.1 

Global 

r=1, w=1 


imaged second in the contents of the process data channel (sending direction as seen by the 

inverter). 


205Eh 

1h 

A94.2 

Global 

r=1, w=1 


imaged third in the contents of the process data channel (sending direction as seen by the inverter). 


205Eh 

2h 

A94.3 

Global 

r=1, w=1 


imaged fourth in the contents of the process data channel (sending direction as seen by the 

inverter). 


205Eh 

3h 

A94.4 

Global 

r=1, w=1 


imaged fifth in the contents of the process data channel (sending direction as seen by the inverter). 


205Eh 

4h 

A94.5 

Global 

r=1, w=1 


imaged sixth in the contents of the process data channel (sending direction as seen by the 

inverter). 


205Eh 

5h 

TR-30



STÖBER 


A.. Inverter 


A95.0 PZD ActValue Mapping 2Tx 1. mapped Parameter: When more parameters are to be 205Fh 0h 

imaged than can be specified in A94, this parameter offers a possible extension. See A94.0. 

Global 

r=3, w=3 


A95.1 

PZD ActValue Mapping 2Tx 2. mapped Parameter: For extension of A94, see A94.1. 

205Fh 

1h 

Global 


r=3, w=3 

A95.2 


205Fh 

2h 

Global 


r=3, w=3 

A95.3 


205Fh 

3h 

Global 


r=3, w=3 

A95.4 


205Fh 

4h 

Global 


r=3, w=3 

A95.5 


205Fh 

5h 

Global 


r=3, w=3 

A97 

Global 

read (1) 

PZD ActValue Len: Indicator parameter which indicates the length in bytes of the current 

process data with actual values (data from inverter to PROFIBUS master) for the current 

parameterization. 




2061h 

0h 

A100 

Global 

r=3, w=3 

Fieldbusscaling: The selection is made here between internal raw values and whole numbers 

for the representation/scaling of process data values during transmission via PZD channel. 

Regardless of this setting, the representation is always the whole number via PKW channel and the 

non cyclic parameter channel. 

2064h 

0h 

Caution: When "0:integer" is parameterized (scaled values), the runtime load increases 

significantly and it may become necessary to increase A150 Cycle time to avoid the fault 

"57:runtime usage" or "35:Watchdog." 

With few exceptions, the PKW channel is always transferred in scaled format. 

0: integer without point; Values are transferred as whole number in user units * 10 to the power of 

the number of positions after the decimal point. 

1: native; Values are transferred at optimized speed in the internal inverter raw format (e.g., 

increments). 




A101 

Global 

Dummy-Byte: This variable is used to replace a piece of process data with the byte length when 

you want to test deactivation of the process variables via fieldbus. 

2065h 

0h 

r=3, w=3 

NOTE 

The parameter is only visible when fieldbus device control was selected in the configuration 

assistant. 

Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 19 40 00 hex 

TR-31



STÖBER 


A.. Inverter 


A102 Dummy-Word: This variable is used to replace a piece of process data with the word length when 2066h 0h 

you want to test deactivation of the process variables via fieldbus. 

Global 

NOTE 

r=3, w=3 


assistant. 


A103 

Global 

r=3, w=3 

Dummy-Doubleword: This variable is used to replace a piece of process data with the doubleword 

length when you want to test deactivation of the process variables via fieldbus. 

NOTE 


assistant. 

2067h 

0h 

Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 01 19 C0 00 hex 

A109 

Global 

r=1, w=1 

PZD-Timeout: To keep the inverter from continuing with the last received reference values after a 

failure of PROFIBUS or the PROFIBUS master, process data monitoring should be activated. The 

RX block monitors the regular receipt of process data telegrams (PZD) which the PROFIBUS 

master sends cyclically during normal operation. The A109 PZD-Timeout parameter is used to 

activate this monitoring function. A time is set here in milliseconds. The default setting is 65535. 

This value and also the value 0 mean that monitoring is inactive. This is recommended while the 

inverter is being commissioned on PROFIBUS and for service and maintenance work. 

Monitoring should only be activated for the running process during which a bus master cyclically 

sends process data to the inverter. The monitoring time must be adapted to the maximum total 

cycle time on PROFIBUS plus a sufficient reserve for possible delays. Sensible values are usually 

between 30 and 300 msec. 

When process data monitoring is triggered on the inverter, the fault "52:communication" is 

triggered. 

206Dh 

0h 

* The A109 PZD-Timeout parameter is also used for communication via USS protocol for the USS- 

PZD telegram. 


Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 1B 40 00 hex 

A110.0 

Global 

r=1, w=1 

USS PZD Mapping Rx 1. mapped Parameter: Address of the parameter which is imaged 

first from the contents of the process data telegram (receiving direction as seen by the inverter). 

NOTE 

The parameter is only visible when a USS device controller is selected in the device configuration 

or the appropriate blocks were used with the option for free, graphic programming. 

206Eh 

0h 

Value range: A00 ... A180 ... A.Gxxx.yyyy (Parameter number in plain text) 

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1B 80 00 hex 

A110.1 

Global 

r=1, w=1 


second from the contents of the process data telegram (receiving direction as seen by the inverter). 

NOTE 



206Eh 

1h 

Value range: A00 ... D230 ... A.Gxxx.yyyy (Parameter number in plain text) 


A110.2 

Global 

r=1, w=1 


third from the contents of the process data telegram (receiving direction as seen by the inverter). 

NOTE 



206Eh 

2h 

Value range: A00 ... G210 ... A.Gxxx.yyyy (Parameter number in plain text) 


TR-32



STÖBER 


A.. Inverter 


A110.3 USS PZD Mapping Rx 4. mapped Parameter: Address of the parameter which is imaged 206Eh 3h 

fourth from the contents of the process data telegram (receiving direction as seen by the inverter). 

Global 

NOTE 

r=1, w=1 





A110.4 

Global 

r=1, w=1 


fifth from the contents of the process data telegram (receiving direction as seen by the inverter). 

NOTE 



206Eh 

4h 


A110.5 

Global 

r=1, w=1 


sixth from the contents of the process data telegram (receiving direction as seen by the inverter). 

NOTE 



206Eh 

5h 


A113 

Global 

read (1) 

USS PZD Rx Len: Indicator parameter which shows the length in bytes of the expected process 

data telegram with reference values of USS master for the current parameterization. 

NOTE 



2071h 

0h 

Value range: 0 ... 0 ... 255 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1C 40 00 hex 

A114.0 

Global 

r=1, w=1 

USS PZD Mapping Tx 1. mapped Parameter: Address of the parameter which is imaged 

first in the contents of the process data telegram (sending direction as seen by the inverter). 

NOTE 



2072h 

0h 

Value range: A00 ... E200 ... A.Gxxx.yyyy (Parameter number in plain text) 

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1C 80 00 hex 

A114.1 

Global 

r=1, w=1 


second in the contents of the process data telegram (sending direction as seen by the inverter). 

NOTE 



2072h 

1h 



A114.2 

Global 

r=1, w=1 


third in the contents of the process data telegram (sending direction as seen by the inverter). 

NOTE 



2072h 

2h 



TR-33



STÖBER 


A.. Inverter 


A114.3 USS PZD Mapping Tx 4. mapped Parameter: Address of the parameter which is imaged 2072h 3h 

fourth in the contents of the process data telegram (sending direction as seen by the inverter). 

Global 

r=1, w=1 NOTE 





A114.4 

Global 


fifth in the contents of the process data telegram (sending direction as seen by the inverter). 

2072h 

4h 

r=1, w=1 

NOTE 




A114.5 

Global 


sixth in the contents of the process data telegram (sending direction as seen by the inverter). 

2072h 

5h 

r=1, w=1 

NOTE 




A117 

Global 

USS PZD Tx Len: Indicator parameter which indicates the length in bytes of the process data 

telegram to be sent with actual values to the USS master for the current parameterization. 

2075h 

0h 

read (1) 

NOTE 



Value range: 0 ... 0 ... 255 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1D 40 00 hex 

A118 

Global 

r=1, w=1 

USS PZD scaling: The selection is made here between internal raw values and whole numbers 

for the representation/scaling of parameter values during transmission via the process data 

telegram. Regardless of this setting, the representation can be selected separately via the readparameter 

or write-parameter services. 

2076h 

0h 

NOTE 



0: integer without point; Values are transferred as whole number in user units * number of positions 

after the decimal point to the 10th power. 

1: native; Values are transferred in the internal inverter raw format (e.g., increments). 


A140 

LCD line0: Indication as character string of the top display line. 

208Ch 

0h 

Global 

Fieldbus: Type: Str16; USS-Adr: 01 23 00 00 hex 

read (0) 

A141 

LCD line1: Indication as character string of the bottom display line. 

208Dh 

0h 

Global 


read (0) 

TR-34



STÖBER 


A.. Inverter 


A142 Key code: Code of the effective key.. 0=none, 1=LEFT, 2=RIGHT, 3=AB, 4=AUF, 5=#, 6=ESC, 208Eh 0h 

7=F1, 8=F2, 9=F3, 10=F4, 11=HAND, 12= EIN, 13=AUS, 14=I/O 

Global 

read (3) Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 23 80 00 hex 

A144 

Global 

r=3, w=0 

Remote key code: Key activations can be simulated by writing this parameter. For meaning, 

see A142. 


2090h 

0h 

A150 

Axis, OFF 

r=1, w=3 

Cycle time: Cycle time of the real-time configuration on the axis. The load of the real-time task 

can be checked in parameter E191 runtime usage. When the computing load becomes too great, 

the event "57:runtime usage" is triggered. 

Note: Changing this parameter may mean that a changed configuration is detected when you go 

online with POSITool. 

4: 1ms; 

5: 2ms; 

6: 4ms; 

7: 8ms; 

8: 16ms; 

9: 32ms; 


2096h 

0h 

A180 

Global 

r=2, w=2 

Device control byte: This byte contains control signals for device control. It is designed for 

fieldbus communication. The particular bit is only active when 2:Parameter is set in the related 

source selector (A60 ... A65). The signals can be monitored directly via the parameters A300 ... 

A305 on the device controller. 

• Bit-0: Additional enable, takes effect in addition to terminal enable. Must be HIGH. Removal of the 

enable can also trigger a quick stop (set enable quick stop A44 =1:active ). The brakes are 

applied and the end stage switches off. 

• Bit-1: Acknowledge (reset) faults 

• Bit-2: Quick stop. Die aktive Rampe ist I11 (bei Lageregelung) bzw. D81 (Drehzahlregelung) 

• Bit-3,4: With multiple-axis operation, the axis to be activated is selected here. 

Bit4 Bit3 Axis 

0 0 Axis 1 

0 1 Axis 2 

1 0 Axis 3 

1 1 Axis 4 

• Bit-5: Deactivate all axes. No motor on. 

• Bit-6: Release brake immediately. 

• Bit-7: Bit 7 in A180 (device control byte) is copied to bit 7 in E200 (device status byte) during each 

cycle of the device controller. When bit 7 is toggled in A180, the host PLC is informed of a 

concluded communication cycle (send, evaluate and return data). This makes cycle timeoptimized 

communication (e.g., with PROFIBUS) possible. The handshake bit 7 in A180 / E200 

supplies no information on whether the application reacted to the process data. Depending on the 

application, other routines are provided (e.g., motion ID for command positioning). 

Value range: 0 ... 00000001bin ... 255 (Representation binary) 

Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 2D 00 00 hex 

20B4h 

0h 

A200 

Global 

r=3, w=3 

COB-ID SYNC Message: Specifies the identifier for which the inverter expects the receipt of the 

SYNC telegrams from CAN-Bus. For most applications the default value should not be changed. 

Value range: 1 ... 128 ... 2047 




20C8h 

0h 

TR-35



STÖBER 


A.. Inverter 


A201 Communication Cycle Period: When SYNCs are specified in a fixed time frame for 

20C9h 0h 

transmission of the PDO telegrams, A201 can be used for monitoring. The entry of 0 μsec means 

Global 

the parameter is deactivated. When activated the cycle time of the SYNC telegrams is entered in 

r=3, w=3 μsec. The threshold value for triggering a timeout is 150% of this value. Monitoring takes place 

when the NMT status is Operational and at least one SYNC telegram was received. When the 

threshold value is exceeded, fault 52:Communication with cause 2:CAN SYNC Error is triggered. 

The red LED of the CAN5000 option board flashes three times briefly and then goes off for 1 

second. Monitoring is deactivated when the NMT status Operational is exited and the entered value 

is set to 0 μsec. 

Value range in us: 0 ... 0 ... 32000000 

Fieldbus: 1LSB=1us; Type: U32; USS-Adr: 01 32 40 00 hex 



A203 

Global 

r=1, w=1 

Guard Time: The master monitors the slaves with the node-guarding routine. The master polls 

node-guarding telegrams cyclically. Parameter A203 specifies the cycle time in msec. The routine 

is inactive when a cycle time of 0 msec is set. 


20CBh 

0h 

Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 32 C0 00 hex 



A204 

Global 

r=1, w=1 

Life Time Factor: The parameter A204 is used during the node guard routine to monitor the 

master. When the queries of the master do not arrive at the slave within a certain amount of time, 

the inverter triggers the life guard event (i.e., fault 52:communication). The time is calculated by 

multiplying the parameters A204 and A203. 

Value range: 0 ... 0 ... 255 




20CCh 

0h 

A207 

Global 

r=3, w=3 

COB-ID Emergency Object: Specifies the identifier for which the inverter sends the emergency 

telegrams to the CAN-Bus. Usually the default value should not be changed since this also 

deactivates the automatic identifier assignment after the Pre-Defined Connection Set. 

Value range: 0 ... 128 ... 4294967295 




20CFh 

0h 

A208 

Global 

r=3, w=3 

Inhibit Time Emergency: Specifies the time in multiples of 100 µsec which the inverter must at 

least wait between the sending of emergency telegrams. 

Value range in 100 us: 0 ... 0 ... 4294967295 

Fieldbus: 1LSB=1·100 us; Type: U32; USS-Adr: 01 34 00 00 hex 



20D0h 

0h 

A210 

Global 

r=1, w=1 

Producer Heartbeat Time: In case the heartbeat protocol is to be used by the master for 

station monitoring on the CAN-Bus, this time specifies in msec how frequently the inverter will send 

heartbeat messages. 


20D2h 

0h 

Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 34 80 00 hex 



TR-36



STÖBER 


A.. Inverter 


A211 Verify Config. Configuration date: The date on which the configuration and parameterization 20D3h 0h 

were finished can be stored here as the number of days since 01.01.1984. 

Global 

r=3, w=3 

Value range in days from 01.01.1984: 0 ... 0 ... 4294967295 

Fieldbus: 1LSB=1days from 01.01.1984; Type: U32; USS-Adr: 01 34 C0 00 hex 



A212 

Global 

r=3, w=3 

Verify Config. Configuration time: The time at which the configuration and parameterization 

were finished can be stored here as the number of msec since 0:00 hours. 





20D4h 

0h 

A213 

Global 

r=1, w=1 

Fieldbusscaling: The selection is made here between internal raw values and whole numbers 

for the representation/scaling of process data values during transmission via the four PDO 

channels. Regardless of this setting, the representation via SDO is always the whole number. 

Caution: When "0:integer" is parameterized (scaled values), the runtime load increases 

significantly and it may become necessary to increase A150 Cycle time to avoid the fault 

"57:runtime usage" or "35:Watchdog." 

0: integer without point; Values are transmitted as whole numbers in user units * the number of 

positions after the decimal place to the power of 10. 

1: native; Values are transferred at optimized speed in internal inverter raw format (e.g., 

increments). 


20D5h 

0h 

A214 

Global 

r=3, w=3 

CAN Bit Sample-Access-Point: Specifies the position at which the bits received by CAN-Bus 

are scanned. Arbitrary changes of the default value may cause transmission problems. 

-1: CIA; 

0: SAP-1; 

1: SAP-2; 

2: SAP-3; 

20D6h 

0h 




A218.0 

Global 

r=2, w=2 

2. Server SDO Parameter . COB-ID Client -> Server: Specifies the identifier for which the 

inverter expects the telegrams for the 2nd SDO channel with the requests from the client. As soon 

as a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the 

automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 

0 or if bit 31 is 1, this SDO channel is turned off. 

20DAh 

0h 

Value range: 0 ... 0 ... 4294967295 




A218.1 

Global 

r=2, w=2 

2. Server SDO Parameter . COB-Id Server -> Client: Specifies the identifier for which the 

inverter sends the telegrams for the 2nd SDO channel with the responses from the client. As soon 




20DAh 

1h 

Value range: 0 ... 0 ... 4294967295 




TR-37



STÖBER 


A.. Inverter 


A218.2 2. Server SDO Parameter . Node-ID of SDO's Client: The client which uses this SDO 20DAh 2h 

channel can enter its own node ID here for information purposes. 

Global 

Value range: 0 ... 0 ... 127 

r=2, w=2 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 36 80 02 hex 



A219.0 

Global 

r=2, w=2 


inverter sends the telegrams for the 3rd SDO channel with the requests from the client. As soon as 

a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the 



Value range: 0 ... 0 ... 4294967295 




20DBh 

0h 

A219.1 

Global 

r=2, w=2 

3. Server SDO Parameter . COB-Id Server -> Client: Specifies the identifier for which the 

inverter sends the telegrams for the 3rd SDO channel with the responses to the client. As soon as a 

station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the 



Value range: 0 ... 0 ... 4294967295 




20DBh 

1h 

A219.2 

Global 

r=2, w=2 

3. Server SDO Parameter . Node-ID of SDO's Client: The client which uses this SDO 


Value range: 0 ... 0 ... 127 




20DBh 

2h 

A220.0 

Global 

r=2, w=2 


inverter expects the telegrams for the 4th SDO channel with the requests from the client. As soon 




NOTE 

The parameter is only visible when a CAN device controller is selected in the device configuration 


Value range: 0 ... 0 ... 4294967295 




20DCh 

0h 

A220.1 

Global 

r=2, w=2 

4. Server SDO Parameter . COB-ID Server -> Client: Specifies the identifier for which the 

inverter sends the telegrams for the 4th SDO channel with the responses to the client. As soon as a 

station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the 



NOTE 



Value range: 0 ... 0 ... 4294967295 




20DCh 

1h 

TR-38



STÖBER 


A.. Inverter 


A220.2 4. Server SDO Parameter . Node-Id of SDO's Client: The client which uses this SDO 20DCh 2h 


Global 

r=2, w=2 NOTE 



Value range: 0 ... 0 ... 127 




A221.0 

Global 

r=2, w=2 

1. rec. PDO Parameter . COB-ID: Specifies the identifier for which the inverter expects the 

telegrams for the 1st PDO channel from the master. Usually the default value should not be 

changed since this also disables the automatic identifier assignment after the Pre-Defined 

Connection Set. If the value is 0 or bit 31 is 1, this service is off. 

20DDh 

0h 

NOTE 



Value range: 0 ... 512 ... 4294967295 




A221.1 

Global 

r=2, w=2 

1. rec. PDO Parameter . Transmission Type: Specifies the type of transmission (with or 

without SYNC, etc.) when received process data from this 1st PDO channel are accepted by the 

inverter. See CAN-Bus documentation, impr. no. 441684. 

NOTE 



20DDh 

1h 

Value range: 0 ... 254 ... 255 




A222.0 

Global 

r=2, w=2 

2. rec. PDO Parameter . COB-ID: Identifier for the receiving direction of the 2nd PDO 

channel. See A221.0 

20DEh 

0h 

NOTE 



Value range: 0 ... 768 ... 4294967295 




A222.1 

Global 

r=2, w=2 

2. rec. PDO Parameter . Transmission Type: Transmission type for 2nd PDO channel. 

See A221.1. 

20DEh 

1h 

NOTE 



Value range: 0 ... 254 ... 255 




TR-39



STÖBER 


A.. Inverter 


A225.0 1. rec. PDO Mapping Rx. 1. mapped Parameter: Address of the parameter which is 

20E1h 0h 

imaged first from the contents of the 1st PDO channel (receiving direction as seen by the inverter). 

Global 

r=1, w=1 NOTE 






A225.1 

Global 

r=1, w=1 

1. rec. PDO Mapping Rx. 2. mapped Parameter: Address of the parameter which is 

imaged second from the contents of the 1st PDO channel (receiving direction). 

20E1h 

1h 

NOTE 






A225.2 

Global 

r=1, w=1 


imaged third from the contents of the 1st PDO channel (receiving direction). 

20E1h 

2h 

NOTE 






A225.3 

Global 

r=1, w=1 


imaged fourth from the contents of the 1st PDO channel (receiving direction). 

20E1h 

3h 

NOTE 






A225.4 

Global 

r=1, w=1 


imaged fifth from the contents of the 1st PDO channel (receiving direction). 

20E1h 

4h 

NOTE 






A225.5 

Global 

r=1, w=1 


imaged sixth from the contents of the 1st PDO channel (receiving direction). 

NOTE 



20E1h 

5h 




TR-40



STÖBER 


A.. Inverter 


2. rec. PDO Mapping Rx. 1. mapped Parameter: For 2nd PDO channel, see A225.0. 20E2h 0h 

A226.0 

Global 

r=2, w=2 

NOTE 






A226.1 

2. rec. PDO Mapping Rx. 2. mapped Parameter: For 2nd PDO channel, see A225.1. 

20E2h 

1h 

Global 

r=2, w=2 

NOTE 






A226.2 


20E2h 

2h 

Global 

r=2, w=2 

NOTE 






A226.3 


20E2h 

3h 

Global 

r=2, w=2 

NOTE 






A226.4 


20E2h 

4h 

Global 

r=2, w=2 

NOTE 






A226.5 


20E2h 

5h 

Global 

r=2, w=2 

NOTE 






TR-41



STÖBER 


A.. Inverter 


A229.0 1. trans. PDO Parameter . COB-ID: Specifies the identifier for which the inverter sends the 20E5h 0h 

telegrams for the 1st PDO channel to the master. Usually the default value should not be changed 

Global 

since the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If 

r=2, w=2 the value is 0 or bit 31 is 1, this service is off. 

NOTE 



Value range: 0 ... 384 ... 4294967295 




A229.1 

Global 

r=2, w=2 

1. trans. PDO Parameter . Transmission Type: Specifies the transmission type (with or 

without SYNC, etc.) when process data are sent via this 1st PDO channel. See CAN-Bus 

documentation, impr. no. 441686. 

NOTE 



20E5h 

1h 

Value range: 0 ... 254 ... 255 




A229.2 

Global 

r=2, w=2 

1. trans. PDO Parameter . Inhibit Time: Specifies the time in multiples of 100 µsec which 

the inverter must adhere to between sending PDO telegrams on channel 1. 

NOTE 



20E5h 

2h 





A229.3 

Global 

r=2, w=2 

1. trans. PDO Parameter . Event Timer: When transmission type "254: Event-Triggerd" is 

set, the telegram is sent either after an internal event or after the time set here in msec. See 

A220.1. 

NOTE 



20E5h 

3h 





A230.0 

Global 

r=2, w=2 

2. trans. PDO Parameter . COB-ID: Identifier for sending direction of the 2nd PDO channel. 

See A229.0. 

NOTE 



20E6h 

0h 

Value range: 0 ... 640 ... 4294967295 




TR-42



STÖBER 


A.. Inverter 


A230.1 2. trans. PDO Parameter . Transmission Type: Transmission type for 2nd PDO channel. 20E6h 1h 

See A229.1. 

Global 

NOTE 

r=2, w=2 



Value range: 0 ... 254 ... 255 




A230.2 

2. trans. PDO Parameter . Inhibit Time: Pause time for PDO channel 2. See A229.2. 

NOTE 



20E6h 

2h 

Global 

r=2, w=2 





A230.3 

2. trans. PDO Parameter . Event Timer: For PDO channel 2. See A229.3. 

NOTE 



20E6h 

3h 

Global 

r=2, w=2 





A233.0 

Global 

r=1, w=1 

1. trans. PDO Mapping Tx. 1. mapped Parameter: Address of the parameter which is 

imaged first on the 1st PDO channel for sending. 

NOTE 



20E9h 

0h 

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 40 00 hex 



A233.1 

Global 

r=1, w=1 


imaged second on the 1st PDO channel for sending. 

NOTE 



20E9h 

1h 




A233.2 

Global 

r=1, w=1 


imaged third on the 1st PDO channel for sending. 

NOTE 



20E9h 

2h 




TR-43



STÖBER 


A.. Inverter 


A233.3 1. trans. PDO Mapping Tx. 4. mapped Parameter: Address of the parameter which is 20E9h 3h 

imaged fourth on the 1st PDO channel for sending. 

Global 

r=1, w=1 NOTE 






A233.4 

Global 

r=1, w=1 


imaged fifth on the 1st PDO channel for sending. 

20E9h 

4h 

NOTE 






A233.5 

Global 

r=1, w=1 


imaged sixth on the 1st PDO channel for sending. 

20E9h 

5h 

NOTE 






A234.0 

2. trans. PDO Mapping Tx. 1. mapped Parameter: For 2nd PDO channel. See A233.0. 

20EAh 

0h 

Global 

r=2, w=2 

NOTE 






A234.1 


20EAh 

1h 

Global 

r=2, w=2 

NOTE 






A234.2 


20EAh 

2h 

Global 

r=2, w=2 

NOTE 






TR-44



STÖBER 


A.. Inverter 


2. trans. PDO Mapping Tx. 4. mapped Parameter: For 2nd PDO channel. See A233.3. 20EAh 3h 

A234.3 

Global 

r=2, w=2 

NOTE 






A234.4 


20EAh 

4h 

Global 

r=2, w=2 

NOTE 






A234.5 


20EAh 

5h 

Global 

r=2, w=2 

NOTE 






A237 

Global 

1. rec. PDO-Mapped Len: Indication parameter indicating in bytes the size of the expected 

receive telegram of the 1st PDO channel for the current parameterization. 

20EDh 

0h 

read (1) 

NOTE 






A238 

2. rec. PDO-Mapped Len: For 2nd PDO channel. See A237. 

20EEh 

0h 

Global 

read (2) 

NOTE 






A241 

Global 

1. trans. PDO-Mapped Len: Indication parameter indicating in bytes the size of the expected 

send telegram of the 1st PDO channel for the current parameterization. 

20F1h 

0h 

read (1) 

NOTE 






TR-45



STÖBER 


A.. Inverter 


2. trans. PDO-Mapped Len: For 2nd PDO channel. See A241. 

20F2h 0h 

A242 

Global 

read (2) 

NOTE 






A245 

CAN diagnostic: Indication of internal inverter diagnostic information via the CAN-Bus interface. 

20F5h 

0h 

Global 

r=3, w=3 

Bits 0-2: NMT state, state of the CANopen state machine: 0=Inactive, 1=Reset application, 

2=Reset communication, 3=Bootup, 4=Pre-operational, 5=Stopped 6=Operational 

Bit 3: CAN controller indicates warning level. 

Bit 4: CAN controller indicates bus off. 

Bit 5: Toggle bit: Telegrams are being received on SDO channel 1. 

Bit 6: Memory bit: Receiving FIFO of SDO channel 1 has exceeded the half-full filling level. 

(Client is sending telegrams faster than they can be processed by the inverter.) 

Bit 7: Toggle bit: Telegrams are being received on PDO channel 1 (only for Operational). 

Bit 8: Memory bit: Receiving FIFO of PDO channel 1 has exceeded the half-full filling level (only 

for Operational). 

(Client is sending telegrams faster than they can be processed by the inverter.) 

Bit 9: Current state of the red LED on CAN 5000, is 1 when LED is on. 

Bit 10: Current state of the green LED on CAN 5000, is 1 when LED is on. 

Bit 11: PDO sync relationship error: PDO1 is using sync. 

All bits can be briefly deleted by sending NMT command Reset Node. 




A252.0 

Global 

r=3, w=3 

EtherCAT Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size 

and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller 

(ESC) in which the process output data with reference values are sent by the EtherCAT master to 

the inverter. These data specify which PDO mapping parameters are assigned to this Sync- 

Manager. This array contains four elements of the data type U16. We recommend entering the 

CANopen index of parameter A225 (1600 hex) in element 0 of this parameter. The indices of the 

parameters A226 (1601 hex), A227 (1602 hex) or A228 (1603 hex) can then be entered as 

necessary in the other elements. The value 0 indicates a blank entry. 

20FCh 

Array 

0h 

Value range: 0 ... 1600hex ... 65535 

(Representation hexadecimal) 


A252.1 

Global 

r=3, w=3 






CANopen index of parameter A226 (1601 hex) in element 1 of this parameter. The indices of the 

parameters A225 (1600 hex), A227 (1602 hex) or A228 (1603 hex) can then be entered as 

necessary in the other elements. The value 0 indicates a blank entry. 

20FCh 

Array 

1h 




TR-46



STÖBER 


A.. Inverter 


A252.2 EtherCAT Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size 20FCh 2h 


Global 

Array 


r=3, w=3 the inverter. These data specify which PDO mapping parameters are assigned to this Sync- 


value 0 (for unused) in element 2 of this parameter because the indices of parameters A225 (1600 

hex) and A226 (1601 hex) have already been entered as default values in elements 0 and 1. Up to 

12 parameters can already be transferred in this way. If more process data are required, the 

CANopen index of parameter A227 (1602 hex) can be specified here. However, remember that the 

corresponding block 100921 ECS PDO3-rx Map must also be instanced here. 

Value range: 0 ... 0000hex ... 65535 (Representation hexadecimal) 


A252.3 

Global 

r=3, w=3 






value 0 (for unused) in element 3 of this parameter because the indices of parameters A225 (1600 

hex) and A226 (1601 hex) have already been entered as default values in elements 0 and 1 and 

sometimes the index of A227 (1603 hex) in element 2. Up to 18 parameters can already be 

transferred in this way. If more process data are required, the CANopen index of parameter A228 

(1603 hex) can be specified here. However, remember that the corresponding block 100923 ECS 

PDO4-rx Map must also be instanced here. 

20FCh 

Array 

3h 




A253.0 

Global 

r=3, w=3 



(ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT 

master. These data specify which PDO mapping parameters are assigned to this Sync-Manager. 

This array contains four elements of the data type U16. We recommend entering the CANopen 

index of parameter A233 (1A00 hex) in element 0 of this parameter. The indices of the parameters 

A234 (1A01 hex), A235 (1A02 hex) or A236 (1A03 hex) can then be entered as necessary in the 

other elements. The value 0 indicates a blank entry. 

20FDh 

Array 

0h 

Value range: 0 ... 1A00hex ... 65535 



A253.1 

Global 

r=3, w=3 





This array contains four elements of the data type U16. We recommend entering the CANopen 

index of parameter A234 (1A01 hex) in element 1 of this parameter. The indices of the parameters 

A233 (1A00 hex), A235 (1A02 hex) or A236 (1604 hex) can then be entered as necessary in the 

other elements. The value 0 indicates a blank entry. 

20FDh 

Array 

1h 

Value range: 0 ... 1A01hex ... 65535 



A253.2 

Global 

r=3, w=3 





This array contains four elements of the data type U16. We recommend entering the value 0 (for 

unused) in element 2 of this parameter because the indices of parameters A233 (1A00 hex) and 

A234 (1A01 hex) have already been entered as default values in elements 0 and 1. Up to 12 

parameters can already be transferred in this way. If more process data are required, the CANopen 

index of parameter A235 (1A02 hex) can be specified here. However, remember that the 

corresponding block 100922 ECS PDO3-rx Map must also be instanced here. 

Value range: 0 ... 0000hex ... 65535 (Representation hexadecimal) 


20FDh 

Array 

2h 

TR-47



STÖBER 


A.. Inverter 


A253.3 EtherCAT Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size 20FDh 3h 


Global 

Array 


r=3, w=3 master. These data specify which PDO mapping parameters are assigned to this Sync-Manager. 

This array contains four elements of the data type U16. We recommend entering the value 0 (for 

unused) in element 3 of this parameter because the indices of parameters A233 (1A00 hex) and 

A234 (1A01 hex) have already been entered as default values in elements 0 and 1 and sometimes 

the index of A235 (1A03 hex) in element 2. Up to 18 parameters can already be transferred in this 

way. If more process data are required, the CANopen index of parameter A236 (1A03 hex) can be 

specified here. However, remember that the corresponding block 100924 ECS PDO4-tx Map must 

also be instanced here. 




A256 

Global 

r=3, w=3 

EtherCAT Address: Shows the address of the inverter within the EtherCAT network. The value 

is usually specified by the EtherCAT master. It is either derived from position of the station within 

the EtherCAT ring or is purposely selected by the user. Values usually start at 1001 hexadecimal 

(1001h is the first device after the EtherCAT master, 1002h is the second, and so on). 

Value range: 0 ... 0 ... 65535 


2100h 

0h 

A257.0 

Global 

read (3) 

EtherCAT Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT 

interface ECS 5000 and the connection to the EtherCAT. 

A text with the following format is indicated in element 0: "StX ErX L0X L1X" 

Part 1 of the text means: 

St Abbreviation of EtherCAT Device State 

X Digit for state: 1 Init State 

2 Pre-operational 

3 Bootstrap (not supported) 

4 Safe-operational 

5 Operational 

2101h 

Array 

0h 


Er Abbreviation of EtherCAT Device Error 

X Digit for state: 0 No error 

1 Booting error, ECS 5000 error 

2 Invalid configuration, select configuration with EtherCAT in 

POSI Tool. 

3 Unsolicited state change, inverter has changed state by itself. 

4 Watchdog, no more data from EtherCAT even though timeout 

time expired. 

5 PDI watchdog, host processor timeout 


L0 Abbreviation for LinkOn of port 0 (the RJ45 socket labeled "IN") 

X Digit for state: 0 No link (no connection to other EtherCAT device) 

1 Link detected (connection to other device found) 


L1 Abbreviation for LinkOn of port 1 (the RJ45 socket labeled "OUT") 

X Digit for state: 0 No link (no connection to other EtherCAT device) 

1 Link detected (connection to other device found) 


TR-48



STÖBER 


A.. Inverter 


A257.1 EtherCAT Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT 2101h 1h 


Global 

Array 

read (3) 

A text with the following format is indicated in element 1: „L0 xx L1 xx" 


L0 Abbreviation for Link Lost Counter Port 0 (RJ45 socket labeled "IN") 

xx Number of lost connections (hexadecimal) on the port 


L1 Abbreviation for Link Lost Counter Port 1 (RJ45 socket labeled "OUT") 

xx Number of lost connections (hexadecimal) on the port. 


A257.2 

Global 

read (3) 

EtherCAT Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT 


A text with the following format is indicated in element 2: „R0 xxxx R1 xxxx" 


R0 

xxxx 

Abbreviation for Rx ErrorCounter Port 0 (RJ45 socket labeled "IN") 

ErrorCounter in hexadecimal with number of registered errors such as, for example, FCS 

checksum, … 

2101h 

Array 

2h 


R0 Abbreviation for Rx ErrorCounter Port 1 (RJ45 socket labeled "OUT") 

xxxx ErrorCounter in hexadecimal with number of registered errors such as, for example, FCS 

checksum, … 


A258 

Global 

r=3, w=3 

EtherCAT PDO Timeout: 

This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter 

does not continue with the last received reference values after a failure of the EtherCAT network or 

the master. After the EtherCAT master has put this station (the inverter in this case) into the state 

"OPERATIONAL," it begins to send new process data (reference values, and so on) cyclically. 

When this monitor function has been activated, it is active in the "OPERATIONAL" state. 

When no new data are received via EtherCAT for longer than the set timeout time, the monitor 

function triggers the fault 52:communication with the cause of fault 6:EtherCAT PDO. 

If the EtherCAT master shuts down this station correctly (exits the "OPERATIONAL" state), the 

monitoring function is not triggered. 

2102h 

0h 

The timeout time can be set in milliseconds with this parameter. 

The following special setting values are available: 

0: Monitoring inactive 

1 to 999: Monitoring is active. Timeout time is always 1000 milliseconds. 

From 1000: Monitoring is active. The numeric value is the timeout value in milliseconds. 

65534: Monitoring is not set by this value but by the "SM Watchdog" functionality of 

TwinCAT. This is in preparation. 

For diagnosis of this externally set function, see parameter A259. 

65535: Monitoring inactive 



A259.0 

Global 

read (3) 

EtherCAT SM-Watchdog: 



the master. 

If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be 

set in the EtherCAT master (TwinCAT software). The result is then indicated in this parameter: 

2103h 

Array 

0h 

Element 0 contains the resulting watchdog time in 0.1 milliseconds. 


TR-49



STÖBER 


A.. Inverter 


A259.1 EtherCAT SM-Watchdog: 

2103h 1h 


Global 

Array 


read (3) the master. 



Element 1 contains whether the watchdog was just triggered (1) or not (0). 

When the watchdog is triggered and the function is activated (see value 65534 in parameter A258), 

the fault 52:communication is triggered on the inverter with cause of fault 6:EtherCAT PDO. 


A259.2 

Global 

read (3) 

EtherCAT SM-Watchdog: 



the master. 



2103h 

Array 

2h 

Element 2 contains the number of times this watchdog has been triggered. 


A260 

Global 

r=3, w=3 

EtherCAT synchronization mode: 

(in preparation) 

Activates the synchronization of the inverter to the clock pulse of EtherCAT. 

Value range: 0 ... 0 ... 65535 


2104h 

0h 

A261.0 

Global 

r=3, w=3 

EtherCAT synchronization times: 

Element 0 shows the cycle time of EtherCAT. 



2105h 

Array 

0h 

A261.1 

Global 

r=3, w=3 


Element 1 shows the shift time of EtherCAT. 



2105h 

Array 

1h 

A261.2 

Global 

r=3, w=3 


Element 2 is reserved. 



2105h 

Array 

2h 

A300 

Global 

read (2) 

Additional enable: Indicates the current value of the AdditEna signal (additional enable) on the 

interface to the device control (configuration, block 100107). 

The "additional enable" signal works exactly like the enable signal on terminal X1. Both signals are 

AND linked. This means that the power end stage of the inverter is only enabled when both signals 

are HIGH. 

212Ch 

0h 

0: inactive; 

1: active; 

Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B 00 00 hex 

A301 

Global 

read (2) 

Fault reset: Indicates the current value of the FaultRes signal (fault reset) on the interface to the 

device control (configuration, block 100107). 

The Fault reset signal triggers a fault reset. When the inverter has malfunctioned, a change from 

LOW to HIGH causes this fault to be reset if the cause of the fault has been corrected. Reset is not 

possible as long as A00 Save values is active. 

212Dh 

0h 

0: inactive; 

1: active; 


TR-50



STÖBER 


A.. Inverter 


A302 Quick stop: Indicates the current value of the QuickStp signal (quick stop) on the interface to the 212Eh 0h 


Global 

The quick stop signal triggers a quick stop of the drive. During positioning mode, the acceleration 

read (2) specified in I11 determines the braking time. When the axis is in "revolutions" (speed) mode, the 

parameter D81 determines the braking time (see also A39 and A45). 

0: inactive; 

1: active; 


A303 

Global 

read (2) 

Axis selector 0: Indicates the current value of the AxSel0 signal (axis selector 0) on the 


There are two "axis selector 0 / 1" signals with which one of the max. of 4 axes can be selected in 

binary code. 

NOTE 




0: inactive; 

1: active; 

212Fh 

0h 

Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B C0 00 hex 

A304 

Global 

read (2) 

Axis selector 1: Indicates the current value of the AxSel1 signal (axis selector 1) on the 


There are two "axis selector 0 / 1" signals with which one of the max. of 4 axes can be selected in 

binary code. 

NOTE 




0: inactive; 

1: active; 

2130h 

0h 

Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4C 00 00 hex 

A305 

Global 

read (2) 

Axis disable: Indicates the current value of the AxDis signal (axis disable) on the interface to the 


The axis-disable signal deactivates all axes. 

NOTE 




0: inactive; 

1: active; 

2131h 

0h 

Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4C 40 00 hex 

A576 

Global 

r=1, w=1 

Control word: Control word with control signals for the device state machine and the drive 

function. 

• Bit 0: "Switch on" - is set to 1 for switchon when bit 0 in status word "Ready to Switch On" is 1. 

• Bit 1: "Enable voltage" - should always be left at 1, is active. 

• Bit 2: "Quick stop" - is set to 0 when the drive is to come to a standstill as soon as possible. 

• Bit 3: "Enable operation" - is set to 1 for enable when bit 1 in status word "Switched on" is 1. 

• Bit 4-6: "Operation mode specific" - see below. 

• Bit 7: "Fault reset" - edge 0 -> 1 to acknowledge queued fault. 

• Bit 8: "Halt" - is not supported, always leave 0 = inactive. 

• Bit 9 and 10: "Reserved" - always leave 0 = inactive. 

• Bit 11 and 12: Axis selector, bit 0 and 1. Select the axis here for multi-axis operation. 00 = axis1, 

… 

• Bit 13: Axis disable. Deactivate all axes. No motor connected. 

• Bit 14: Release brake. 

• Bit 15: "Reserved" - always leave 0 = inactive. 

6240h 

0h 

TR-51



STÖBER 


A.. Inverter 


On bits 4-6 "operation mode specific" - the meaning of the bits depends on the operating mode of 

the inverter. This is set in A608 (modes of operation). 

The following operating modes and related bit meanings are available at this time: 

Job mode: 

• Bit-4: Jog + 

• Bit-5: Jog - 

• Bit-6: Reserved, always 0 

Homing mode: 

• Bit-4: Homing operation start 



Interpolated position mode: 

• Bit-4: Interpolation mode active 



Comfort reference value: 

• Bit-4: HLG block, ramp generator input = 0 

• Bit-5: HLG stop, freeze ramp generator input 

• Bit-6: HLG zero, ramp generator input = 0 (same as bit 4) 

Can be accessed via CANopen under: 

Index 

6040 hex 

Subindex 0 




A577 

Global 

read (1) 

Status word: The status word indicates the current state of the device. Some bits are operation 

mode specific. 

• Bit-0: "Ready to switch on" 

• Bit-1: "Switched on" 

• Bit-2: "Operation enabled" 

• Bit-3: "Fault" 

• Bit-4: "Voltage enabled" 

• Bit-5: "Quick stop" 

• Bit 6: "Switch on disabled" 

• Bit-7: "Warning" 

• Bit-8: "Message" 

• Bit-9: "Remote," corresponds to the negated output Local of block 320 Local 

• Bit-10: "Target reached," see below 

• Bit-11: "Internal limit active," 1 = limit is active 

• Bit-12 and 13: "Operation mode specific," see below 

• Bit-14 and 15: "PLL Bit0" and "PLL Bit1" with the meaning of interpolated position mode: 

00: OK 

01: Cycle time extended and still engaged 

10: Cycle time shortened and still engaged 

11: Not engaged 

6241h 

0h 

Bit-10 "Target reached," bit-11 "Internal limit active" and bits 12 and 13 "Operation mode specific." 

The meaning of the bits depends on the operating mode of the inverter. This is set in the parameter 

A608 modes of operation. 

The following operating modes are currently available with their related bit meanings: 


• Bit-10: "Target reached," reference-value-reached flag, same as D183 "n-window reached" 

• Bit-11: "Internal limit active," 1 = limit is active, one of the following signals is active: D182, D185, 

D186, D308, D309, D462 

TR-52



STÖBER 


A.. Inverter 


Homing mode: 

• Bit-12: Homing attained: Reference point found 

• Bit-13: Homing error: termination of referencing due to error 

Interpolated position mode: 

• Bit-12: Interpolation mode active 


Can be accessed via CANopen under: 

Index 

6041hex 

Subindex 0 


A900 

Global 

r=3, w=4 

A901 

Global 

r=3, w=4 

A903 

Global 

r=3, w=4 

A904 

Global 

r=3, w=3 

A905 

Global 

r=3, w=3 

A906 

Global 

r=3, w=3 

A907 

Global 

r=3, w=3 

A910 

Global 

r=3, w=4 

A911 

Global 

r=3, w=4 

A912 

Global 

r=3, w=4 

SysEnableOut: Enable output of the device controller to the axis(axes). Indicates that the power 

section is on and enables reference value processing. 

Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E1 00 00 hex 

SysQuickstopOut: Quick stop output of the device controller to the axis(axes). Indicates that the 

device controller forces a quick stop which is executed by speed control. Reference value 

processing of the axis must support this with priority before axis reference value processing. 


SysOpenBrake: Command bit: Open halting brake (X2). This signal bypasses brake control and 

goes directly to plug connector X2. 

Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E1 C0 00 hex 

New PDO1 data for IP: The parameter is set to "1" when a PDO is received. 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 E2 00 00 hex 

New PDO1 data for Tx: The parameter is set to "1" when a PDO is received. 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 E2 40 00 hex 

Time stamp PDO1: Time relationship between PDO receipt and cycle time. 

Fieldbus: 1LSB=1µs; Type: U32; USS-Adr: 01 E2 80 00 hex 

Reference timestamp PLL: Time relationship of PLL to cycle time. 

Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 01 E2 C0 00 hex 

SysAdditionalEnableIn: Additional enable signal of the axis to the device controller. A logical 

AND link with the enable signal (usually from binary input X100.enable) occurs on the device 

controller. 


SysQuickstopIn: Quick stop request of the axis to the device controller. 


SysFaultResetInput: Fault reset of the axis to the device controller. 


TR-53



STÖBER 


A.. Inverter 


A913 SysQuickstopEndInput: Quick stop end signal of the axis to the device controller. Indicates 

that a quick stop was concluded. With applications without braking control, this is usually the 

Global 

"standstill reached" signal. With applications with braking control, this is usually the "brake closed" 

r=3, w=4 signal. 


A915 

Global 

r=3, w=4 

A916 

Global 

r=3, w=4 

A918 

Global 

r=3, w=4 

A919 

Global 

r=3, w=4 

A922 

Global 

r=2, w=4 

A923 

Global 

r=2, w=4 

A924 

Global 

r=2, w=4 

A925 

Global 

read (2) 

A926 

Global 

read (2) 

CAN PDO Mode: This parameter set the PDO communication. Standard application (A915=0 - 2 

PDO channel) or interpolated positioning (A915=1 - 1 PDO channel). The parameter will be set 

automatically if the application is selected by the configurations assistant. 

NOTE 



Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 E4 C0 00 hex 

Reference cycle-time: Cycle time of the SYNC telegram. Is created from G98. 

Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 01 E5 00 00 hex 

SysLocal: Signal of the device controller to the axis (axes). Indicates that local operation is 

activated ("hand" key). 


SysEnableLocal: Signal of the device controller to the axis (axes). Indicates that local operation 

("hand" key) and local enable ("I/O" or "I" key) are activated. 


SysControlWordBit4: Signal of device control on the axis/axes. The function is applicationspecific. 

The parameter is only functional for the applications listed below. 

Application 

Meaning 

Comfort reference value 

Corresponds to the Stop signal 




Application 



Meaning 

Halt ramp generator (with lower priority than Stop and Quick 

Stop) 



Application 

Meaning 


Corresponds to the Stop signal 


SysTargetReached: Signal of the axis to the device control. The reference value was reached. 

The function is application-specific. The param. is only functional for the applications listed below. 

Application 

Meaning 

Comfort reference value Reference-value-reached flag, same as D183 "n-window reached" 


SysTargetReached: Signal of the axis to the device control. The reference value was reached. 

The function is application-specific. The param. is only functional for the applications listed below. 

Application 

Meaning 

Comfort reference value One of the following signals is active: D182, D185, D186, D308, D309, 

D462 


TR-54



STÖBER 


B.. Motor 


B00 

Axis 

r=1, w=1 

B02 

Axis, OFF 

r=1, w=1 

B04 

Axis, OFF 

r=1, w=1 

Motor-type: Indication of the motor name as text. 


Back EMF: Specifies the peak value of induced voltage between two phases at 1000 Rpm. When 

an effective val. is specified for external motors, this must be multiplied by 1.41 before entry in B02. 

Value range in V/1000rpm: 5.0 ... 110,0 ... 3000.0 

Fieldbus: 1LSB=0,1V/1000rpm; Type: I16; (raw value:1LSB=0,1·rpm); USS-Adr: 02 00 80 00 hex 

Only with servo operation (B20 greater or equal to 64:Servo-control). 

El. motor-type: STÖBER motors of the ED/EK series are available with electronic single and 

multi-turn encoders. These encoders offer a special parameter memory. In all standard models 

STÖBER places all motor data in this memory including any existing halting brake ("electronic 

nameplate"). 

B04 is only used when B06=0 is set. 

With B04=0, only the commutation offset is read. The other motor data can be entered as desired. 

When B04=1 is set, the following parameters are read from the nameplate. 

B00, B02, B05, B10, B11, B12, B13, B15, B16, B17, B51, B52, B53, B62, B64, B65, B66, B67, 

B68, B70, B71, B72, B73, B74, B82, B83, F06, F07 

With B04=1, the motor data are read from the encoder after each power-on. Any manual changes 

to motor data are only effective until the next power-off and power-on even when the changes are 

stored non-volatilely in Paramodule. For permanent changes to the motor data, set B04=0. Then 

store the changes with A00=1. 

Electronic nameplates of other motor manufacturers cannot be evaluated with the MDS 5000. 

Note: Correct evaluation of the electronic nameplate after a change in parameter B04 is not 

ensured until after a device new start. 

0: Commutation; 

1: All data; 


2200h 

2202h 

2204h 

0h 

0h 

0h 

B05 

Axis, OFF 

r=1, w=1 

Commutation-offset: Shift the encoder zero position in comparison to the motor. STÖBER 

motors with resolvers are set to B05=0 at the plant and checked. Normally a change in the B05 

parameter is not required. When phase test B40 produces a value B05>5° or B05



STÖBER 


B.. Motor 


B10 Motor-poles: Results from the nominal speed nNom [Rpm] and the nominal frequency f [Hz] of 220Ah 0h 

the motor. B10=2·(f · 60 / nNom). Correct entry of the number of poles is mandatory for the inverter 

Axis, OFF 

to function. 

r=1, w=1 

Value range: 2 ... 6 ... 16 

Fieldbus: 1LSB=1; Type: U8; (raw value:255 = 510); USS-Adr: 02 02 80 00 hex 

B11 

Axis, OFF 

r=1, w=1 

Nominal motor power: Nominal power in kW as per nameplate. If only the nominal torque Mn 

is known instead of the nominal power, B11 must be calculated from Mn [Nm] and the nominal 

speed n [Rpm] based on the following formula: B11=Mn · n / 9550. 

Value range in kW: 0.120 ... 0,550 ... 500.000 

220Bh 

0h 

Fieldbus: 1LSB=0,001kW; Type: I32; USS-Adr: 02 02 C0 00 hex 

B12 

Nominal motor current: Nominal current in A as per nameplate. 

220Ch 

0h 

Axis, OFF 

Value range in A: 0.001 ... 1,700 ... 327.670 

r=1, w=1 

Fieldbus: 1LSB=0,001A; Type: I32; USS-Adr: 02 03 00 00 hex 

B13 

Nominal motor speed: Nominal speed in Rpm as per nameplate. 

220Dh 

0h 

Axis, OFF 

Value range in rpm: 0 ... 1411 ... 95999 

r=1, w=1 

Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 02 03 40 00 hex 

B14 

Axis, OFF 

r=1, w=1 

Nominal motor voltage: Nominal voltage as per nameplate. Since, with asynchronous motors, 

the type of switching (Y/Δ) must be adhered to, make sure that the parameters B11 ... B15 match! 

Value range in V: 0 ... 400 ... 480 


Only with asynchronous machines (B20 less than 64:Servo-control). 

220Eh 

0h 

B15 

Axis, OFF 

r=1, w=1 

Nominal motor frequency: Nominal frequency of the motor as per nameplate. Parameters 

B14 and B15 specify the inclination of the V/F characteristic curve and thus the characteristic of the 

drive. The V/F characteristic curve determines the frequency (B15: f-nominal) at which the motor 

will be operated (B14: V-nominal). Voltage and frequency can be linearly increased over the 

nominal point. Upper voltage limit is the applied network voltage. STÖBER system motors up to a 

size of 112 offer the possibility of star/delta operation. Delta operation with 400 V permits a power 

increase by the factor of 1.73 and an expanded speed range with constant torque. In this type of 

circuit, the motor requires more current. It must be ensured that: 

- The frequency inverter is designed for the corresponding power (PDelta = 1.73 · PStar). 

- B12 (I-nominal) is parameterized for the corresponding nominal motor current (IDelta = 1.73 · IStar). 

220Fh 

0h 

With quadratic characteristic curve (B21=1), nominal frequencies are limited via 124 Hz internally to 

124 Hz. 

Value range in Hz: 0.0 ... 50,0 ... 1600.0 

Fieldbus: 1LSB=0,1Hz; Type: I32; (raw value:2147483647 = 512000.0 Hz); USS-Adr: 02 03 C0 00 hex 


B17 

Axis, OFF 

r=1, w=1 

T0 (standstill): Standstill torque M0 as per nameplate. Used, among others, as reference value 

for the torque and current limitation (C03 and C05). 

Value range in Nm: 0.000 ... 3,700 ... 2147483.647 

Fieldbus: 1LSB=0,001Nm; Type: I32; USS-Adr: 02 04 40 00 hex 

Only with servo operation (B20 greater or equal to 64:Servo-control). 

2211h 

0h 

B18 

Axis 

read (3) 

Related torque: The parameter B18 shows the reference value for percentage of torque values 

(such as C03, C05, E62 and E66) in every control mode (B20). 

Value range in Nm: -20.62 ... 2,58 ... 20.62 

Fieldbus: 1LSB=0,01Nm; Type: I16; raw value:1LSB=Fnct.no.22; USS-Adr: 02 04 80 00 hex 

2212h 

0h 

TR-56



STÖBER 


B.. Motor 


B19 

Axis, OFF 

cos(phi) 

Value range: 0.500 ... 0,720 ... 1.000 

2213h 0h 

Fieldbus: 1LSB=0,001; Type: I16; USS-Adr: 02 04 C0 00 hex 

r=1, w=1 


B20 

Axis, OFF 

r=3, w=3 

Control mode: Specifies the type of motor control. 

NOTE 

- With control type "0: V/f-control," there is no current or torque limitation. Similarly, connection to a 

rotating motor is not possible ("capturing"). 

- Control type 64:Servo-control is not available with the FDS 5000 inverter. 

0: V/f-control; Simplest type of control for the asynchronous machine (ASM). The corresponding 

reference value frequency and voltage are calculated from the specified speed and rigidly 

applied to the motor. 

1: Sensorless vector control; 

2: Vector control; 

64: Servo-control; Type of control for servo drives. 


2214h 

0h 

B21 

Axis, OFF 

r=1, w=1 

V/f-characteristic: Switch between linear and square characteristic curve. 

0: Linear; Voltage/frequency characteristic curve is linear. Suitable for all applications. 

1: Square; Square characteristic curve for use with fans and pumps. The characteristic curve is 

continued linearly starting at the nominal frequency (B15). 



V/f-factor: Offset factor for the increase of the V/f characteristic curve. The increase with V/F 

factor = 100% is specified by V-nominal (B14) and f-nominal (B15). 

Value range in %: 90 ... 100 ... 110 

Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 05 80 00 hex 


V/f-Boost: The term boost means an increase in voltage in the lower speed range whereby a 

higher startup torque is available. With a boost of 100% the nominal motor current flows at 0 Hz. To 

specify the required boost voltage, the stator resistance of the motor must be known. 

For this reason, with motors without electronic nameplate, it is essential that B41 (autotune motor) 

be performed!! 

With STÖBER standard motors, the stator resistance of the motor is specified by the choice of 

motor. 

2215h 

0h 

B22 

Axis 

r=1, w=1 

2216h 

0h 

B23 

Axis 

r=1, w=1 

2217h 

0h 

Value range in %: 0 ... 10 ... 400 

Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 05 C0 00 hex 

Only with V/f control (B20=0). 

Switching frequency: The noise volume of the drive is affected by changing the switching 

frequency. Increasing the switching frequency increases losses, however. For this reason, the 

permissible nominal motor current (B12) must be reduced when the switching frequency is 

increased. With operation of a servo motor (B20=64), at least 8 kHz must be set. With a setting of 4 

kHz, an internal switch to 8 kHz is performed for servo operation. In some operating states, the 

switching frequency is changed by the inverter itself. The currently active switching frequency can 

be read in E151. 

NOTE 

The factory setting of this parameter depends on B20. With a servo controller, the value 8:8kHz is 

entered in B24. When an asynchronous machine (V/f controller, sensorless vector controller and 

vector controller) is used, B24 has the value 4:4kHz. 

4: 4kHz; 

8: 8kHz; 

16: 16kHz; 


B24 

Axis 

r=2, w=2 

2218h 

0h 

TR-57



STÖBER 


B.. Motor 


B26 Motor encoder: Selection of the interface to which the motor encoder is connected. The encoder 221Ah 0h 

must be correctly parameterized in H.. for the particular interface (see encoder list in the H.. group). 

Axis, OFF 

r=1, w=1 NOTE 

Remember that the interfaces X120 and X140 are only available on the MDS 5000. The settings 

3:X140-Resolver and 4:X120-Encoder do not exist on the FDS 5000. 

0: inactive; 

1: BE-encoder; An incremental encoder which is connected to terminals BE4 and BE5 is used as 

motor encoder. The exact parameterization of the encoder must be performed in H10 ... H12. 

2: X4-encoder; The motor encoder is connected to interface X4. The exact parameterization of the 

encoder must be performed in H00 ... H02. 

3: X140 resolver; A resolver on the optional interface X140 is used as motor encoder. The exact 

parameterization of the encoder must be performed in H30 ... H32. 

4: X120-encoder; The motor encoder is connected to the optional interface X120. The precise 

parameterization of the encoder must be performed in H120 to H126. Note: The interface X120 

is only available with the "I/O terminal module, expanded (XEA 5000)" and "I/O terminal module, 

expanded (XEA 5001)" respectively! 


B28 

Axis, OFF 

r=2, w=2 

Encoder gearfactor: When the encoder for motor control for setting B20=2 (control type = 

vector control) is not mounted directly on the motor shaft, the gear ratio between motor shaft and 

the encoder must be specified here. 

It must apply: 

• B28 = Number of motor revolutions/number of encoder revolutions. 

• An SSI or an incremental encoder must be used. 

B28 can also assume negative values. Values whose amount is less than 1/10 may not be set. 

When B28 is not equal to 1.000, E09 indicates the encoder position and not the rotor position. 

Value range: -32.000 ... 1,000 ... 31.999 

Fieldbus: 1LSB=0,001; Type: I16; (raw value:10 Bit=1); USS-Adr: 02 07 00 00 hex 


221Ch 

0h 

B29 

Axis 

r=3, w=4 

Tolerate overcurrent: With applications which run close to the overcurrent threshold of the 

inverter, normal control procedures can cause undesired overcurrent malfunctions. For these 

cases, the parameter B29 makes it possible to tolerate a crossing of the overcurrent threshold for 

an adjustable number of current controller cycles. 

221Dh 

0h 

The parameter should not be changed until after the max. current value has been checked with an 

external current measuring instrument. 

Caution! With B20 = 0 (V/f-control), B29 must be 0! The parameter is only effective when vector 

control B20=2. 

Value range in current-ctrl cycles: 0 ... 0 ... 20 

Fieldbus: 1LSB=1current-ctrl cycles; Type: I8; USS-Adr: 02 07 40 00 hex 

B31 

Oscillation damping: Under preparation. 

Value range in %: 0 ... 30 ... 100 


221Fh 

0h 

Axis, OFF 

r=3, w=3 

B32 

SLVC-dynamics: Under preparation. 

Value range in %: 0 ... 70 ... 100 


2220h 

0h 

Axis, OFF 

r=3, w=3 

TR-58



STÖBER 


B.. Motor 


B35 Offset raw-motorencoder: The parameter B35 is added to the encoder raw value or 

2223h 0h 

accumulated encoder raw value. The results are indicated in E154 raw motor-encoder and E153 

Axis 

accumulated raw-motor-encoder. 

r=3, w=3 The scaling of B35 depends on the motor encoder being used: 

- EnDat ® , SSI: MSB = 2048 encoder revolutions 

- Resolver: 65,536 LSB = 1 encoder revolution (i.e., MSB = 32,768 encoder revolutions) 

- Incremental encoder: 4 LSB = 1 increment 

MSB = Most Significant Bit 

LSB = Least Significant Bit 


B36 

Axis, OFF 

r=3, w=3 

Maximum magnetisation: The parameter permits the motor to move within the basic speed 

range with reduced magnetization. With a light load, this can be used to reduce heatup of motor 

and inverter. The parameter should usually be set to 100% (no reduction). 

NOTE 

The parameter is only effective in control type B20= 2:Vectorcontrol. 

2224h 

0h 

Value range in %: 50 ... 100 ... 100 


B40.0 

Global 

r=2, w=2 

Phase test & start: Writing a one starts the phase test action. It may only be used for servo 

motors. A check is made to determine whether phases were mixed up when the motor was 

connected, whether the number of motor poles (B10) is correct and auto-tunes the commutation 

offset (B05). During the action the motor must be able to revolve freely. 

The enable must be LOW at the starting point. After B40.0=1 the enable must be switched HIGH. 

After the action was executed, the enable must be switched back to LOW. The result of the action 

can be read after removal of the enable in B05. 

2228h 

0h 

During this action the cycle time is internally set to 32 ms. The switch is made when the action is 

activated. 

WARNING 

Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently 

energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may 

only be performed with motors which are not installed in a system. 


B40.1 

Process: Progress of the phase test in %. 

2228h 

1h 

Global 

Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A 00 01 hex 

read (2) 

B40.2 

Result: After conclusion of the phase test action, the result can be queried here. 

2228h 

2h 

Global 

read (2) 


1: aborted; 

2: phase order; 

3: motor poles; 

4: commutation offset; 

5: test run; 


TR-59



STÖBER 


B.. Motor 


B41.0 Autotuning & start: Writing a one starts the Autotune motor action. It measures the resistance 2229h 0h 

(B53) and the inductivity (B52) of the motor. The drive may move during this action. 

Global 

The enable must be LOW at the starting point. After B41.0=1, the enable must be switched to 

r=2, w=2 HIGH. After the action is executed, the enable must be switched back to LOW. The result of the 

action can be read in B52, B53 after the enable is removed. 

During this action the cycle time is internally set to 32 ms. The switch is made when the action is 

activated. 

When an asynchronous machine (B20



STÖBER 


B.. Motor 


B43.1 

Global 

read (2) 

Process: Progress of the winding test in %. 

Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A C0 01 hex 

222Bh 

1h 

B43.2 

Result: After conclusion of the winding test action, the result can be queried. 

222Bh 

2h 

Global 

read (2) 


1: aborted; 

2: R_SYM_U; 

3: R_SYM_V; 

4: R_SYM_W; 

5: POLAR_SYM_U; 

6: POLAR_SYM_V; 

7: POLAR_SYM_W; 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A C0 02 hex 

B52 

Axis, OFF 

r=2, w=2 

Stator inductance: Inductance Lu-v of the motor winding in mH. Enter only for external motors. 

The value can be autotuned with the B41 action. 

Value range in mH: 0.001 ... 20,000 ... 2147483.647 

Fieldbus: 1LSB=0,001mH; Type: I32; USS-Adr: 02 0D 00 00 hex 

2234h 

0h 

B53 

Axis, OFF 

r=2, w=2 

Stator winding resistance: Stator winding resistance Ru-v of the motor winding in ohm. Enter 

only for external motors. The value can be autotuned with the B41 action. 

Value range in Ohm: 0.001 ... 15,000 ... 2147483.647 

Fieldbus: 1LSB=0,001Ohm; Type: I32; USS-Adr: 02 0D 40 00 hex 

2235h 

0h 

B54 

Axis, OFF 

r=3, w=3 

Leakage factor: Ratio of leakage inductance to total inductance "Ls" of the motor 

NOTE 

The default value is sufficient for most motors and applications. Adjustments may become 

necessary when an external motor is connected. In such cases the value can be autotuned with the 

action B41. However, do not make this adjustment before consulting with STÖBER 

ANTRIEBSTECHNIK GmbH & Co. KG. 

2236h 

0h 

Value range: 0.010 ... 0,100 ... 0.300 

Fieldbus: 1LSB=0,001; Type: I16; USS-Adr: 02 0D 80 00 hex 


B55 

Axis, OFF 

r=3, w=3 

Magnetic saturation coefficient: The parameter specifies how much the motor is 

magnetically saturated at the nominal point. The parameter is important for the control accuracy of 

control type VC (B20=2:VC) in the field weakening area. 

NOTE 

The default value is sufficient for most motors and applications. Adjustments may become 

necessary when an external motor is connected. In such cases the value can be autotuned with the 

action B41. However, do not make this adjustment before consulting with STÖBER 

ANTRIEBSTECHNIK GmbH & Co. KG. 

2237h 

0h 

Value range: 0.000 ... 0,750 ... 0.950 

Fieldbus: 1LSB=0,001; Type: I32; (raw value:2147483647 = 32767.000); USS-Adr: 02 0D C0 00 hex 


B61 

Axis, OFF 

T-Motor (thermal): Time constant of motor heatup in seconds. 

Value range in s: 0.1 ... 120,6 ... 3276.7 

223Dh 

0h 

r=2, w=2 

Fieldbus: 1LSB=0,1s; Type: I16; USS-Adr: 02 0F 40 00 hex 

B62 

Axis, OFF 

Motor inertia: Inertia J of the motor in kg cm². 

Value range in kg cm2: 0.0001 ... 0,0036 ... 214748.3647 

223Eh 

0h 

r=2, w=2 

Fieldbus: 1LSB=0,0001kg cm2; Type: I32; (raw value:1LSB=0,0001); USS-Adr: 02 0F 80 00 hex 

TR-61



STÖBER 


B.. Motor 


B63 

Axis, OFF 

r=3, w=3 

Mmax/Mnom: Relationship of breakdown torque of the motor to its nominal torque. 

Value range: 1.0 ... 2,5 ... 8.0 

Fieldbus: 1LSB=0,1; Type: I16; (raw value:32767 = 8.0); USS-Adr: 02 0F C0 00 hex 


223Fh 0h 

B64 

Axis 

r=3, w=3 

Integral time lq: Integral time of the current controller for the torque-generating share in msec. A 

setting under 0.6 msec causes an integral gain of 0 (corresponds to an infinite integral time). 

Value range in ms: 0.0 ... 1,2 ... 100.0 

Fieldbus: 1LSB=0,1ms; Type: I16; USS-Adr: 02 10 00 00 hex 

Only with control types with current control (B20 = 64:Servo or 2:VC). 

2240h 

0h 

B65 

Proportional gain torque controller: Proportional gain of the torque controller. 

2241h 

0h 

Axis 

Value range in %: 0.0 ... 12,5 ... 800.0 

r=3, w=3 

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 10 40 00 hex 


B66 

Axis 

r=3, w=3 

Integral time Id: Integral time of the current controller for the flow-generating share in msec. A 

setting under 0.6 msec causes an integral gain of 0 (corresponds to an infinite integral time). 


Fieldbus: 1LSB=0,1ms; Type: I16; USS-Adr: 02 10 80 00 hex 

Only when B20 is not 0:V/f-control. 

2242h 

0h 

B67 

Proportional gain flux: Proportional gain of the flow controller. 

2243h 

0h 

Axis 

Value range in %: 0.0 ... 12,5 ... 800.0 

r=3, w=3 

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 10 C0 00 hex 


B68 

Kd-iq: D share of the torque controller. 

2244h 

0h 

Axis 

Value range in %: 0.0 ... 20,0 ... 595.8 

r=3, w=3 



B70 

TW: Thermal time constant of the winding. 

2246h 

0h 

Axis, OFF 


r=3, w=3 

Fieldbus: 1LSB=0,01s; Type: I16; USS-Adr: 02 11 80 00 hex 

B72 

Axis, OFF 

r=3, w=3 

TH: Is used for the thermal motor model. The parameter specifies in % the ratio of housing 

temperature and winding temperature at steady thermal factor. Example: During stationary 

operation at nominal point, the housing has a temperature of 110 °C, the winding 150 °C, and the 

ambient temperature is 25 °C. This results in: B72 = (110°C-25°C) / (150°C-25°C) * 100% = 68%. 

2248h 

0h 

Value range in %: 5.0 ... 73,2 ... 95.0 

Fieldbus: 1LSB=0,1%; Type: I32; (raw value:409600·LSB=100%); USS-Adr: 02 12 00 00 hex 

B73 

tr0: Specifies the speed-independent friction of the motor. 

2249h 

0h 

Axis, OFF 

Value range in Nm: -32.768 ... 0,000 ... 32.767 

r=3, w=3 

Fieldbus: 1LSB=0,001Nm; Type: I16; USS-Adr: 02 12 40 00 hex 

B74 

tr1: Specifies the speed-dependent friction of the motor. 

224Ah 

0h 

Axis, OFF 

Value range in Nm/1000rpm: -3.2768 ... 0,0000 ... 3.2767 

r=3, w=3 

Fieldbus: 1LSB=0,0001Nm/1000rpm; Type: I16; (raw value:1LSB=0,0001·rpm); USS-Adr: 02 12 80 00 hex 

TR-62



STÖBER 


B.. Motor 


B82 

Axis, OFF 

r=2, w=2 

I-max: Maximum current before the motor is de-magnetized. Specification in A. 

Value range in A: 0.000 ... 2147483,647 ... 2147483.647 


2252h 

0h 

B83 

Axis, OFF 

r=2, w=2 

n-max motor: Maximum permissible speed for the motor. Specification in Rpm. 

Value range in rpm: 0 ... 8000 ... 17 Bit 

Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 02 14 C0 00 hex 

Double transmission motor-encoder: Indicates whether double transmission monitoring is 

active for the SSI encoder used as the motor encoder. Evaluation of the encoder begins without 

double transmission monitoring but double transmission monitoring is automatically activated after 

a short time if the SSI encoder being used supports this. When monitoring is inactive, data security 

is reduced significantly. If the motor encoder is not an SSI encoder, the parameter has no meaning. 

NOTE 

The parameter can only be used when an SSI encoder is evaluated on the inverter. 

0: inactive; 

1: active; 

2253h 

0h 

B295 

Global 

read (3) 

2327h 

0h 

Fieldbus: 1LSB=1; Type: B; USS-Adr: 02 49 C0 00 hex 

B296 

Global 

read (3) 

Error-counter motor-encoder: Counts the number of tolerable errors of the motor encoder 

since the last device new start. 

NOTE 

The parameter can only be used when an SSI or EnDat® encoder is evaluated on the inverter. 


Maximum-speed motorencoder: B297 can be used for a plausibility check of the motor 

encoder signals for EnDat® and SSI encoders. The difference between two consecutive encoder 

values is monitored. If this difference exceeds the speed specified in B297, a fault is triggered 

(37:n-feedback / double transmission, starting with V5.2: 37:Encoder / X4-speed or X120-speed). 

NOTE 



Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 02 4A 40 00 hex 

Error-tolerance motorencoder: Sets the tolerance of the inverter to errors of the motor 

encoder. This tolerance can be used to prevent a fault 37:Encoder when encoder errors occur 

sporadically. The inverter extrapolates an encoder value in this case. The parameter B298 specifies 

how many errors will be tolerated before the inverter malfunctions. 

Error evaluation is structured as shown below: 

Each arriving encoder value is checked. When an encoder error is determined, B299 and B298 are 

compared. If the error evaluation counter B299 is greater than or equal to B298, fault 37: Encoder 

is triggered. If B299 is less than B298, the error is tolerated. The counter status B299 is 

incremented by 1.0. 

If the arriving encoder value is correct, the error evaluation counter B299 is decremented by 0.1. 

Decrementation continues until the value 0 is reached. 

Example: When 0.1 is set in B298, one error is tolerated but there must be at least 10 correct 

values before the next error is determined. 

The following errors are tolerated: 

- EnDat®-CRC 

- EnDat®-Busy 

- SSI-double transmission 

- SSI-Busy 

- Violation of the maximum speed in B297 

With other encoder errors (e.g., wire break), a fault is triggered immediately regardless of B298. 

Error tolerance may negatively affect the quality of movement. The wiring should be checked when 

encoder errors occur frequently. 

NOTE 


Value range: 0.0 ... 1,0 ... 3.0 

Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 02 4A 80 00 hex 

2328h 

0h 

B297 

Axis 

r=3, w=3 

2329h 

0h 

B298 

Axis 

r=3, w=3 

232Ah 

0h 

TR-63



STÖBER 


B.. Motor 


B299 Error-evaluation motorencoder: Shows the current status of the error evaluation counter 232Bh 0h 

(see B298). 

Global 

NOTE 

read (3) 


Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 02 4A C0 00 hex 

C.. Machine 


C01 n-max: Maximum permissible speed. The speed is related to the motor shaft speed. When 

2401h 0h 

C01*1.1 + 100 Rpm is exceeded, the inverter assumes fault "56:Overspeed." C01 may not exceed 

Axis 

the maximum permissible motor speed B83. 

r=2, w=2 Für Positionierapplikation wird die n-Vorsteuerung auf C01 begrenzt. 


Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 03 00 40 00 hex 

C03 

Axis 

r=1, w=1 

Max-positive Torque: Positive maximum torque in % of motor standstill torque M0 with servo 

motors and nominal torque Mn for asynchronous motors. If the maximum torque is exceeded, the 

controller reacts with the message "47:M-MaxLimit." Depending on the operational status and the 

configuration being used, the actual, active, positive, maximum torque may differ from C03. The 

active, positive maximum torque can be monitored in E62. See also E22 and C06 (if present). 

2403h 

0h 

Value range in %: 0 ... 150 ... 750 


C05 

Axis 

r=1, w=1 

Max-negative Torque: Positive maximum torque in % of motor standstill torque M0 with servo 

motors and nominal torque Mn for asynchronous motors. When the maximum torque is exceeded, 

the controller reacts with the message "47:M-MaxLimit." Depending on the operational state and 

the configuration being used, the actual, active, negative maximum torque may differ from C05. The 

active, negative, maximum torque can be monitored in E66. See also E22 and C06 (if present). 

2405h 

0h 

Value range in %: -750 ... -150 ... 0 


C06 

Axis 

r=2, w=2 

Factor torque limit: Weighting factor for the torque limits. The reference value can be selected 

for most standard applications via C130. When the parameterized torque limits C03, C05 specify 

other limit values, the smaller value becomes the active torque limit. C06 must be increased for 

some standard applications to allow torques over 200% to take effect in C03, C05. 

2406h 

0h 

Value range in %: 0.0 ... 200,0 ... 800.0 


C08 

Axis 

r=2, w=2 

Quick stop torque limit: Quick stop causes the inverter to switch to the torque limit set in C08. 

The limits specified in C03, C05 or other limits specified by the application are ignored during the 

quick stop. 

However, the effective torque limit can be automatically reduced if an operating limit of the inverter 

or the motor would be violated otherwise. 

2408h 

0h 

Value range in %: 0 ... 150 ... 750 


TR-64



STÖBER 


C.. Machine 


C20 Startup Mode: Specifies the startup behavior of the drive. 

2414h 0h 

Axis, OFF 0: normal; Default setting 

1: load start; For machines with increased break away torque. During the time time-load start (C22), 

r=3, w=3 

the motor torque is increased to torque load start (C21) and the speed is controlled with a 

sixteenth of the current ramp. 

2: cycle characteristic; A torque pre-control is performed, i.e. the inverter calculates the required 

torque from the specified motor-type (B00) and the ratio of the inertias J-load/J-motor (C30). This 

calculated torque is impressed on the drive. Forward feed is only calculated for acceleration or 

deceleration procedures. When reference value changes are less than the used ramp or the 

drive is in static operation, forward feed is deactivated. This provides a tolerance to reference 

value noise. 

3: capturing; A turning motor is connected to the inverter. The inverter determines the actual speed 

of the motor, synchronizes itself and specifies the appropriate reference value. 

4: cycle characteristic 2; A torque forward feed is performed with the setting 2:cycle characteristic 

(i.e., the inverter calculates the required torque from the specified motor type (B00) and the 

inertia ratio of load/motor (C30). This calculated torque is impressed on the drive. 

In comparison to 2:cycle characteristic, the drive tends to vibrate with this setting. 


C21 

Axis, OFF 

r=3, w=3 

Torque load start: Only when C20=1 (load start). Specification of the torque for the difficult 

startup. 

Value range in %: 0 ... 100 ... 400 


2415h 

0h 

C22 

Axis, OFF 

r=3, w=3 

Time load start: Only when C20=1. Time for the difficult startup with the torque defined under 

C21. 


Fieldbus: 1LSB=0,1s; Type: I16; (raw value:32767 = 32.8 s); USS-Adr: 03 05 80 00 hex 

2416h 

0h 

C30 

Axis 

r=2, w=3 

J-load/J-motor: Ratio of the mass inertia of load to motor. In positioning applications C30 is used 

to determine the torque feedforward. A theoretic torque reference value calculated from the mass to 

be accelerated is applied to the torque reference value generated by the speed controller. The 

standard deviations during the acceleration phases are significantly reduced by this. The torque 

forward feed causes very "hard" movements and can create a vibration excitation in the mechanics. 

For this reason, we recommend only entering C30 when actually needed and remaining accordingly 

below the calculated value. 

241Eh 

0h 

Value range: 0.0 ... 0,0 ... 512.0 

Fieldbus: 1LSB=0,1; Type: I16; (raw value:32767 = 512.0); USS-Adr: 03 07 80 00 hex 

C31 

Axis 

r=2, w=2 

Proportional gain n-controller: Proportional gain of the speed controller. With C31=100% 

and a speed deviation of 32 Rpm, the P-share of the speed controller supplies the standstill 

moment M0 as reference value to the current or torque controller. 

Value range in %: 0.0 ... 10,0 ... 800.0 



241Fh 

0h 

C32 

Axis 

r=2, w=2 

Integral time n-controller: Time constant of the I share in speed controller. A short integral 

time causes a high integration speed and thus increases the "static rigidity" of the drive. With 

dynamic processes, a short integral time can cause overswinging in the target position. In this case, 

increase C32. The I-controller is deactivated with C32



STÖBER 


C.. Machine 


C33 Low pass reference speed: Reference value smoothing. C33 should be increased in case of 2421h 0h 

reference value noise, vibrating mechanics or large external masses. 

Axis 

r=3, w=3 


Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.12; USS-Adr: 03 08 40 00 hex 

C34 

Axis 

r=2, w=2 

n-motor low pass: Smoothing time constant for the measured motor speed in msec. Any noise 

during the measurement of the motor speed causes disagreeable noise and an additional thermal 

motor load. C34 helps to reduce speed noise and thus improve the smoothness of running. C34 

should be kept as low as possible since an increase of C34 reduces the achievable controller gain 

C31 and thus the dynamics. 

2422h 

0h 



C36 

Axis 

r=2, w=2 

Reference torque low pass: Smoothing time constant for the torque reference value on the 

output of the speed controller in msec. Is used to suppress vibration and resonance. The effect of 

torque smoothing is dosed with C37. 


2424h 

0h 



C37 

Axis 

r=3, w=3 

Reference torque filter: The torque reference value is generated on the output of the speed 

controller from two components whose relationship is affected by C37. 

• Direct output of the PI speed controller (share corresponds to 100%-C37). 

• Smoothed output of PI speed controller (share corresponds to C37). 

For maximum dynamics, set C37=0%. The reference value low pass is cancelled out with the time 

constant C36. C37 can be increased to 100% to attenuate the vibrations. 

2425h 

0h 

Value range in %: 0 ... 25 ... 100 



C40 

Axis 

r=2, w=2 

n-window: With applications without brake control (e.g., fast reference value), "standstill reached" 

is valid within a window of ±C40. This signal means "quick stop concluded" for the device controller. 

Value range in rpm: -8191 ... 30 ... 8191 

Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 03 0A 00 00 hex 

2428h 

0h 

C41 

Axis 

r=3, w=3 

Operating range source: The parameters C41 to C49 offer a universal comparator block for 

monitoring a working range. C41 specifies the source to be monitored. A coordinate such as "E90" 

(M-Motor) must be entered. Only parameters of the data type "I16" can be used as sources. 

Value range: A00 ... 1.G333 ... A.Gxxx.yyyy (Parameter number in plain text) 

2429h 

0h 


C42 

Axis 

r=3, w=3 

Operating range factor: The signal with the source parameterized with C41 is multiplied by 

C42 before the comparison with the upper and lower limit occurs. 

Value range in %: -800.0 ... 25,0 ... 800.0 

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 0A 80 00 hex 

242Ah 

0h 

C43 

Axis 

r=3, w=3 

Operating range low pass: C43 specifies the time constant of a PT1 low pass. Useful when 

the signal to be monitored has noise. 


Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 03 0A C0 00 hex 

242Bh 

0h 

TR-66



STÖBER 


C.. Machine 


C44 Operating range mode: With C44=1, the amount (absolute value) of the signal to be monitored 242Ch 0h 

is generated. 

Axis 

r=3, w=3 

0: range; 

1: absolute; 

Fieldbus: 1LSB=1; Type: I8; USS-Adr: 03 0B 00 00 hex 

C45 

Operating range lower limit: Lower limit (minimum) of the operating range. 

242Dh 

0h 

Axis 

Value range in %: -800.0 ... -100,0 ... 800.0 

r=3, w=3 

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 0B 40 00 hex 

C46 

Operating range upper limit: Upper limit (maximum) of the operating range. 

242Eh 

0h 

Axis 

Value range in %: -800.0 ... 100,0 ... 800.0 

r=3, w=3 

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 0B 80 00 hex 

C48 

Axis 

read (3) 

Operating range status: Result of the operating range. C48 assumes the value 1 when the 

signal to be monitored is less than C45. If C48 has the value 2, the signal to be monitored is greater 

than C46. 

0: in range; 

1: below range; 

2: above range; 

2430h 

0h 


C49 

Axis 

read (3) 

Operating range actual value: Current value of the signal to be monitored whose source was 

specified by C41 after multiplication with C42. The value is indicated in the relative scaling of the 

limits C45 and C46 and not in the physical unit of the signal source. 

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 0C 40 00 hex 

2431h 

0h 

C61 

Axis 

r=3, w=3 

Speed limiter: Switches the speed limiter on. The inverter then still only limits the maximum 

speed and is in torque mode. 

0: inactive; Normal speed control (possible with higher-level position control, see C62). 

1: active; Torque control with speed limiter. 

243Dh 

0h 



C62 

Axis 

r=3, w=3 

Position ctrl: Switch position control on and off. Position control is used, for example, for 

positioning or precise-angle synchronous operation. With all positioning applications (also without 

encoder), C62=1 is required. 

0: inactive; 

1: active; position control 

243Eh 

0h 


C130 

Axis, OFF 

r=2, w=2 

Torque limit source: Selection of the source for the signal of the external torque limit "M-Max." 

It can be permanently specified that the signal is supplied by the analog inputs or the fieldbus. 

With C130=4:Parameter, the (global) parameter C230 is used as the signal source. The resulting 

torque limit is indicated in C330. 

2482h 

0h 

0: 0 (zero); 

1: AE1; 

2: AE2; 

3: AE3; 

4: parameter; 


TR-67



STÖBER 


C.. Machine 


C180 Rangecontrol upper limit: Binary signal, assumes the value "1" when the actual value of 24B4h 0h 

range monitoring (C49) exceeds the maximum permissible value (can be set with C46) on the 

Axis 

output. 

read (1) 

0: inactive; 

1: active; 

Fieldbus: 1LSB=1; Type: B; USS-Adr: 03 2D 00 00 hex 

C181 

Axis 

read (1) 

Rangecontrol lower limit: Binary signal, assumes the value "1" when the actual value of 

range monitoring (C49) drops below the minimum permissible value (can be set with C45) on the 

output. 

0: inactive; 

1: active; 

24B5h 

0h 


C230 

Global 

r=2, w=2 

Torque limit: Specification for the torque limit (absolute value) via fieldbus if the signal source is 

C130=4:Parameter. 

Value range in %: -200 ... 200 ... 200 

Fieldbus: 1LSB=1%; PDO ; Type: I16; (raw value:32767·LSB=200%); USS-Adr: 03 39 80 00 hex 

24E6h 

0h 

C330 

Axis 

read (2) 

Torque limit: Indication of the value of the Torque Limit signal on the interface for calculation of 

the torque limits. 

The internal, currently effective torque limits also depend on the fixed torque limits C03 and C05 as 

well as any possible torque limit due to the i²t model. The current limits are indicated in E62 and 

E66. 

254Ah 

0h 

Fieldbus: 1LSB=1%; PDO ; Type: I16; (raw value:32767·LSB=200%); USS-Adr: 03 52 80 00 hex 

D.. Reference Value 


D00 

Axis 

r=2, w=2 

Acceleration ramp: Acceleration ramp of the speed ramp generator. 

Value range in ms/3000rpm: 1 ... 100 ... 49152000 

Fieldbus: 1LSB=1ms/3000rpm; Type: I32; raw value:1LSB=Fnct.no.10; USS-Adr: 04 00 00 00 hex 

2600h 0h 

D01 

Deceleration ramp: Deceleration ramp of the speed ramp generator. 

2601h 

0h 

Axis 


r=2, w=2 


D02 

Axis 

r=2, w=2 

Speed (max.ref.value): D02 is used to scale a speed reference value. A reference value is 

specified in Volt or % via an analog input or via the fieldbus. This relative reference value is 

multiplied by D02 to obtain a reference speed in Rpm. 

In the application quick reference value, D02 is the reference value speed at 10 V on the analog 

input if the scaling of the analog input corresponds to the default setting. In the application quick 

reference value, D02 does not act as speed limitation. 

When the application includes a complete reference value characteristic curve, D02 is then the 

speed when reference value specification = D03. 

2602h 

0h 

Value range in rpm: 0 ... 3000 ... 8191 

Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 04 00 80 00 hex 

TR-68



STÖBER 




D80 Ramp smoothening: An acceleration or braking procedure is extended during ramp 

2650h 0h 

smoothening by the time specified in D80. At the beginning of an acceleration or braking procedure, 

Axis 

the ramp is linearly adjusted from 0 to the full value in the time D80. Near the end of the procedure, 

r=2, w=2 the ramp is adjusted during this time from the full value to 0 (trapezoid-shaped progression of the 

ramp). This corresponds to conventional jerk limitation. The speed has a parabola-shaped 

progression. With D80=0, quick stop (e.g., due to a malfunction) and during a load start, ramp 

smoothening is not active. The ramp which the ramp smoothening affects is dependent on the 

application selected (see list below). 

NOTE 

The ramp is only extended by D80 when ramp smoothening, ramp and reference value change are 

adapted to each other in such a way that the maximum ramp value can be achieved (trapezoidshaped 

progression of the ramp). 

In addition, all desired lengths of ramp smoothening times cannot be set. The maximum ramp 

smoothening time is first specified by the value range of D80 (maximum of 10000 ms). For long 

ramps, this range is restricted to the value 49152000 / current ramp. 

Application 

Parameter 

Fast reference value 

D00, D01 

Technology controller 

D00, D01 


Depending on the valid main reference value 


Fieldbus: 1LSB=1ms; Type: I32; USS-Adr: 04 14 00 00 hex 

D81 

Axis, OFF 

r=1, w=1 

Quick stop deceleration (decel-q): Quick stop ramp. Takes effect when a quick stop is 

executed (also for fault reaction=quick stop). The drive is decelerated with the braking ramp set 

here. 


2651h 

0h 


D93 

Global 

r=1, w=1 

Reference value generator: For commissioning and optimization of speed control. If 

D93=0:bipolar, then +D95 and -D95 are specified alternately. If D93=1:unipolar, then 0 Rpm and 

D95 are specified alternately. Each speed specification remains valid for the time D94. 

0: bipolar; Normal reference value selection. 

1: unipolar; ±D95 is cyclically specified as reference value. The time can be set in D94. 

265Dh 

0h 


D94 

Global 

r=1, w=1 

Ref. val. generator time: The reference value changes each time this period of time expires. 

Value range in ms: -32768 ... 500 ... 32767 


265Eh 

0h 

D95 

Global 

r=1, w=1 

Ref. val. generator speed: Speed reference value of the reference value generator. 

Value range in rpm: -8191 ... 250 ... 8191 

Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 04 17 C0 00 hex 

265Fh 

0h 

D96.0 

Global 

r=1, w=1 

Reference value generator & start: Writing a one starts the reference value generator 

action. A square-shaped reference value is specified for the motor. The action can only be used 

with control modes servo-control and vector control (control mode B20). The enable must be LOW 

at the starting point. After D96.0=1, the enable must be switched HIGH. Any existing brake is 

automatically released. 

2660h 

0h 

WARNING 

Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently 

energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may 

only be performed with motors which are not installed in a system. 


TR-69



STÖBER 




D96.1 

Global 

read (1) 

Process: Shows the progress of the reference value generator action in %. 

Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 04 18 00 01 hex 

2660h 1h 

D96.2 

Result: Shows the result of the reference value generator action. 

2660h 

2h 

Global 

read (1) 


1: aborted; 


D100 

Axis, OFF 

r=1, w=1 

Reverse source: The Reverse (direction of revolution) signal reverses the direction of revolution 

of the motor. 

The parameter D100 specifies the source for the Reverse signal. 

Possible selections 0:Low and 1:High are the same as fixed values. With D100=3:BE1...28:BE13- 

inverse , the Reverse signal can be executed via the selected binary input. With D100=2:Parameter, 

the control byte or the control word of the selected application is used as the signal source. 

This setting is provided for fieldbus operation. The control word can be assigned to various 

parameters in the different applications. The list below shows the control words for the different 

applications. 

The Reverse signal can be monitored in D300 - regardless of the parameterized signal source. 

Application Parameter Bit 

Fast reference value D210 0 

Technology controller G210 0 

Comfort reference valuew D210 0 

2664h 

0h 

0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 


7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 



TR-70



STÖBER 




D101 External fault source: Selection of the source for the "44:ext.Fault" signal (external fault). 2665h 0h 

With D101=2:Parameter, the control word is used as the signal source. This is designed for 

Axis, OFF 

operation with a fieldbus system. The control word can be assigned to various parameters in the 

r=1, w=1 different applications. The list below shows the control words for the different applications. 

The signal can be directly monitored on the block input via D301. 


Fast reference value D210 1 


Comfort reference value D210 1 

0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 


7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 



D130 

Axis, OFF 

r=1, w=1 

Reference value source: Selection of the source for the "relative reference value" signal. The 

signal can be permanently specified as supplied by the analog inputs or the fieldbus. With 

D130=4:Parameter, the (global) parameter D230 is used as the signal source. It can be written for 

use with a fieldbus system. 

2682h 

0h 

0: 0 (zero); 

1: AE1; 

2: AE2; 

3: AE3; 

4: parameter; 


D180 

Axis 

read (1) 

Standstill: The signal is 1:active when the speed actual value is within the window of ±C40. With 

fieldbus operation, the signal can be read in D200 Bit 0. 

0: inactive; 

1: active; 

26B4h 

0h 


TR-71



STÖBER 




D181 Reference value reached: Binary signal, assumes the value "1" when the input and output of 26B5h 0h 

the ramp generator differ by a maximum of 10 Rpm after expiration of the ramp. In the application 

Axis 

for the "comfort reference value," the signal is also 1:active when the output of the motorised pot is 

read (1) constant. 

The signal can only be set when the enable has been given. 

With fieldbus operation, the signal can be read in D200 Bit 1. 

0: inactive; 

1: active; 


D182 

Axis 

read (1) 

Torque limit: Binary signal, assumes the value "1" when the required torque exceeds the 

maximum permissible torque (C03, C05, C330, C331, C332, C333). D182 triggers for negative and 

positive limit. When positive and negative limit must be distinguished between, use E180 and E181. 

To distinguish between motoring and generating limits, E186 and E187 must be read. 

With fieldbus operation, the signal can be read in D200 Bit 2. 

26B6h 

0h 

0: inactive; 

1: active; 


D210 

Global 

r=2, w=2 

Speed reference value control word: This word contains reference value signals to the 

application. In the application for the fast reference value, only bits 0 and 1 can be used. Bits 2 to 

13 are exclusively for use with the application for the comfort reference value. 

The parameter which is specified with the bit names specifies the indication parameter which shows 

the signal regardless of its source. 

26D2h 

0h 

Bit 0: Reverse (D300): With the high level, the reference value is negated before the addition 

with n-reference high resolution takes place. 

Bit 1: External fault (D301): With the high level, the fault "44:externalfault1" is triggered. 

Bit 2: Stop (D302): With the high level, reference value 0 is specified and the motor stops. 

Bit 3: Limit switch+ (D303): With the high level, an event is triggered. In the standard, the 

inverter switches to the fault state. 

Bit 4: Limit switch- (D304): With the high level, an event is triggered. In the standard, the inverter 

switches to the fault state. 

Bit 5: Jog enable (D305): If the drive reaches standstill (speed in window ±C40) with an active 

Stop signal, jogging mode is enabled with the high level. 

Bit 6: Jog+ source (D306): When jogging mode is enabled, the jog reference value signal is 

output unchanged with the active signal. 

Bit 7: Jog- source (D307): When jogging mode is enabled, the jog reference value signal is 

output negated with the high level. 

Bit 8: Positive blocking (D308): With the high level, no positive reference value is processed. 

Bit 9: Negativ blocking (D309): With the high level, no negative reference value is processed. 

Bit 10: Torque switch (D310): The signal is used to switch between the absolute torque limits. 

With the low level, torque limit is valid (C330). With the high level, torque limit 2 is active 

(C331). 

Bit 11: Master / slave switch (D311): With the high level, the master reference (D340) is active. 

Bit 12: Speed / torque switch (D312): The signal is used to switch between speed and torque 

control. With the low level, speed control is active. With the high level, torque control is 

used. 

Bit 13: Additional enable 2 (D313): The Additional enable 2 signal is logically linked with the 

reference value enables. With the high level, one of the reference value enables must also 

exist before the drive is enabled. 

Bit 14, Bit 15: Reserved 

Value range: 0 ... 0000000000000000bin ... 65535 

(Representation binary) 


D230 

Global 

r=2, w=2 

n-reference value relative: Relative speed reference value of the application quick reference 

value as related to D02. Is added to high-resolution speed reference value D231. The reverse 

signal (D100, D210.0) negates D230. 

Value range in %: -200.0 ... 0,0 ... 200.0 

26E6h 

0h 

Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=200,0%); USS-Adr: 04 39 80 00 hex 

TR-72



STÖBER 




D231 n-reference value high resolution: High-resolution speed reference value of the application 26E7h 0h 

quick reference value. The function differs in the applications "fast reference value" and "comfort 

Global 

reference value." 

r=2, w=2 

Fast reference value: 

The reference value Is added to relative reference value D230. The reverse signal (D100, D210.0) 

has no effect on D231. 


For an exact description of the n-reference high resolution signal, please see the application 

description of the comfort reference value, impr.-no. 441883. 

Value range in rpm: -131072.000 ... 0,000 ... 131072.000 

Fieldbus: 1LSB=0,001rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 04 39 C0 00 hex 

D300 

Axis 

read (2) 

Reverse: Indicator parameter for the current signal state on the input of the speed block (reverse). 

D300 shows the state regardless of the source selected in D100. In the "comfort reference value" 

application, the signal can be read in D201 Bit 0 in fieldbus mode. 

0: inactive; 

1: active; 

272Ch 

0h 

Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 04 4B 00 00 hex 

D301 

Axis 

read (2) 

External fault: Indicator parameter for the current signal state on the input of the speed block 

(extFault). D301 shows the status regardless of the source selected in D101. 

0: inactive; 

1: active; 

272Dh 

0h 

Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 04 4B 40 00 hex 

D330 

Axis 

read (2) 

n-reference value relative: Indicator parameter for the current signal value on the input of the 

speed block (RVrelat.). D330 shows the value regardless of the source selected in D130. 

When weighted with D02, this signal provides one component of the speed reference value. The 

high-resolution speed reference value (RefVal) is then added to this. 

274Ah 

0h 


D331 

Axis 

read (2) 

n-reference value high resolution: Indicator parameter for the current signal value on the 

input of the quick reference value block (RefVal). 

The value of D331 is added to the relative reference value. 


274Bh 

0h 

E.. Display Value 


E00 

Global 

read (0) 

I-Motor: Indicates the current motor current as amount in amperes. 

Fieldbus: 1LSB=0,1A; PDO ; Type: I16; raw value:1LSB=Fnct.no.3; USS-Adr: 05 00 00 00 hex 

2800h 0h 

E01 

Global 

read (0) 

P-Motor: Indicates the current active power of the motor in kW. 

Fieldbus: 1LSB=0,001kW; PDO ; Type: I32; (raw value:2147483647 = 3435.973 kW); USS-Adr: 05 00 40 00 

hex 

2801h 

0h 

E02 

Global 

read (0) 

M-Motor filtered: Indication of the current motor torque in Nm. With asynchronous types of 

control as related to the nominal motor torque, with servo types of control as related to the standstill 

moment M0. Smoothed for indication on the device display. Access to unsmoothed amount is 

possible with E90. 

2802h 

0h 

Fieldbus: 1LSB=0,1Nm; PDO ; Type: I16; raw value:1LSB=Fnct.no.7; USS-Adr: 05 00 80 00 hex 

TR-73



STÖBER 




E03 DC-link-voltage: Indication of the current DC link voltage. 

2803h 0h 

Value range with single-phase inverters: 0 to 500 V, with three-phase inverters 0 to 800 V. 

Global 

read (1) 

Fieldbus: 1LSB=0,1V; PDO ; Type: I16; USS-Adr: 05 00 C0 00 hex 

E04 

U-Motor: Chained effective voltage present on the motor. 

2804h 

0h 

Global 

Fieldbus: 1LSB=0,1V; PDO ; Type: I16; (raw value:32767 = 2317.0 V); USS-Adr: 05 01 00 00 hex 

read (1) 

E05 

f1-Motor: Frequency of the voltage applied to the motor. 

2805h 

0h 

Global 

Fieldbus: 1LSB=0,1Hz; PDO ; Type: I32; (raw value:2147483647 = 512000.0 Hz); USS-Adr: 05 01 40 00 hex 

read (1) 

E06 

Global 

read (0) 

n-reference: With speed operation. Indication of the current speed reference value as related to 

the motor shaft. 

Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 01 80 00 hex 

2806h 

0h 

E07 

Global 

read (1) 

n-post-ramp: Indication of the current speed as related to the motor shaft after the ramp 

generator and the n-reference value lowpass. In operating mode position (C62=1), the sum of 

output position control and n-forwardfeed (= speed control reference value) is indicated. 


2807h 

0h 

E08 

Global 

read (0) 

n-motor filtered: Indication of the current motor speed. Smoothed for indication on the device 

display. Access to the unsmoothed motor speed is possible with E91. When the drive is operated 

without feedback, this speed is determined mathematically via the motor model (in this case, the 

actual motor speed may differ from the calculated speed). 

2808h 

0h 

Fieldbus: 1LSB=1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 02 00 00 hex 

E09 

Global 

read (0) 

Rotor position: Position of the motor shaft and the motor encoder respectively. With absolute 

value encoders, the encoder position is continuously read from the encoder and entered in this 

parameter. The value range is limited to ±128 U. This position is available for all operating modes. 

With types of control without motor encoders, E09 is simulated (not precise). The display shows 

whole motor revolutions with 3 positions after the decimal point. The full resolution of 24 B bit/U is 

supplied via fieldbus. Accuracy and maximum value range varies with the encoder. 

When E09 is evaluated by a higher-level controller for position acquisition, the following 

must be true: 

• The encoder increment number must be an even power of two. 

• E09 must be read cyclically 

• The position must be accumulated on the controller. 

2809h 

0h 

Fieldbus: 1LSB=0,001revolutions; PDO ; Type: I32; (raw value:24 Bit=1·revolutions); USS-Adr: 05 02 40 00 hex 

E10 

Global 

read (1) 

AE1-Level: Level of the signal available on analog input 1 (X100.1 - X100.3) (without 

consideration of F11, F12). To compensate for an offset (the value which arrives at the inverter 

when the controller specifies 0 V), this must be entered with the opposite sign in F11. 


280Ah 

0h 

E11 

Global 

read (1) 

AE2-Level: Level of the signal on analog input 2 (X100.4 - X100.5) (without consideration of F21, 

F22). To compensate for an offset (the value which arrives at the inverter when the controller 

specifies 0 V), this must be entered in F21 with the opposite sign. 

Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 02 C0 00 hex 

280Bh 

0h 

E15 

Global 

read (1) 

n-motor-encoder: Speed calculated from the motor encoder specified in B26. This indication 

also functions when the control type in B20 does not require an encoder. 


280Fh 

0h 

TR-74



STÖBER 




E16 Analog-output1-level: Indication of the level on the analog output (X100.6 und X100.7). ±10 V 2810h 0h 

corresponds to ±100 %. 

Global 

read (1) 


E17 

Global 

read (1) 

Relay1: State of relay 1 (ready-for-operation relay, X1.1, X1.2). Active means that the relay 

contact is closed. Indicates readiness for operation of the control electronics. There are no faults. 

0: inactive; 

1: active; 

2811h 

0h 

Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 04 40 00 hex 

E18 

Global 

read (1) 

Relay 2: State of relay 2 (mechanical halting brake, X2.1, X2.2). Active means that the relay 

contact is closed and the halting brake is open. 

0: inactive; 

1: active; 

2812h 

0h 

Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 04 80 00 hex 

E19 

Binary inputs: Indicates status of all binary inputs as binary word. 

2813h 

0h 

Global 


read (2) 

E20 

Global 

read (1) 

Device utilisation: Indicates the current utilization of the inverter in %. 100% corresponds to the 

nominal power of the inverter. 


2814h 

0h 

E21 

Global 

read (1) 

Motor utilisation: Indicates current utilization of the motor in %. Reference number is the 

nominal motor current entered under B12. 


2815h 

0h 

E22 

Global 

read (1) 

i2t-device: Level of the thermal device model (i 2 t model). The fault "59:Overtemp.device i2t" 

occurs at 105% of full load. When the 100% limit is reached, the inverter triggers the event 

"39:Overtemp.device i2t" with the level specified in U02. The output current is limited to the 

permissible device nominal current for servo and vector control (B20=2 or 64). 

2816h 

0h 

Value range in %: 0 ... 80 ... 255 

Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100·LSB=100%); USS-Adr: 05 05 80 00 hex 

E23 

Axis 

read (1) 

i2t-motor: Level of the thermal motor model (i 2 t model). 100% corresponds to full utilization. The 

thermal model is based on the design data entered under group B.. (Motor) (i.e., continuous 

operation - S1 operation). With more than 100%, the reaction parameterized in U10, U11 is 

triggered for the event "45:Overtemp.device i2t." 

2817h 

0h 

Value range in %: 0 ... 80 ... 255 

Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100·LSB=100%); USS-Adr: 05 05 C0 00 hex 

E24 

Global 

read (1) 

i2t-braking resistor: Level of the thermal braking resistor model (i²t model). 100% corresponds 

to full utilization. The data of the braking resistor are specified with A21 ... A23. With more than 

100%, the fault "42:TempBrakeRes" occurs. 

Value range in %: 0 ... 80 ... 255 

2818h 

0h 

Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100·LSB=100%); USS-Adr: 05 06 00 00 hex 

E25 

Device-temperature: Current device temperature in °C. 

2819h 

0h 

Global 

Fieldbus: 1LSB=1°C; PDO ; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 05 06 40 00 hex 

read (1) 

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STÖBER 




E27 Binary outputs: The status of all binary outputs is indicated as binary word. Bit0=BA1 to 

281Bh 0h 

Bit9=BA10. 

Global 

read (2) 


E28 

Global 

read (1) 

Analog-output2-level: Indication of the level on the analog output (X1.7 and X1.8). ±10 V 

corresponds to ±100 %. 


281Ch 

0h 

E30 

Global 

read (1) 

Run time: Indication of how long the inverter controller section was supplied with voltage 

(operating hours counter). 


281Eh 

0h 

E31 

Global 

read (1) 

Enable time: Indication of how long the inverter controller section was supplied with voltage and 

the power section enable was active. 


281Fh 

0h 

E32 

Energy counter: Indication of the total supplied energy in Wh. 

2820h 

0h 

Global 

Fieldbus: 1LSB=1Wh; PDO ; Type: U32; USS-Adr: 05 08 00 00 hex 

read (1) 

E33 

Global 

Vi-max-memorized value: The DC link voltage is monitored continuously. The greatest 

measured value is stored here non-volatilely. This value can be reset with A37→1. 

2821h 

0h 

read (1) 

Fieldbus: 1LSB=0,1V; PDO ; Type: I16; USS-Adr: 05 08 40 00 hex 

E34 

Global 

I-max-memorized value: The motor current is monitored continuously. The greatest measured 

value is stored here non-volatilely. This value can be reset with A37→1. 

2822h 

0h 

read (1) 

Fieldbus: 1LSB=0,1A; PDO ; Type: I16; raw value:1LSB=Fnct.no.3; USS-Adr: 05 08 80 00 hex 

E35 

Global 

read (1) 

Tmin-memorized value: The temperature of the inverter is monitored continuously. The 

smallest measured value is stored here non-volatilely. This value can be reset with A37→1. 

Fieldbus: 1LSB=1°C; PDO ; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 05 08 C0 00 hex 

2823h 

0h 

E36 

Global 

read (1) 

Tmax-memorized value: The temperature of the inverter is monitored continuously. The 

greatest measured value is stored here non-volatilely. This value can be reset with A37→1. 

Fieldbus: 1LSB=1°C; PDO ; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 05 09 00 00 hex 

2824h 

0h 

E39 

Global 

read (3) 

Application start time: When the configuration has started successfully on the device, E30 

operating time is copied to E39. 


2827h 

0h 

TR-76



STÖBER 




Event cause: Diagnostic information concerning the fault which occurred last. 

282Bh 0h 

E43 

Event "34:Hardware fault" 

Global 1: Fault while loading the FPGA block to the control section. 

read (3) 2: The non-volatile memory of the control section board is defective. 

3: The non-volatile memory of the power section board is defective. 

10: The power section serial number does not match the request in control section. 

11: Deviation in current offset measurement during device startup is too great. 

Event "37:n-feedback" 

1: The parameterization does not match the connected encoder. 

2: Encoder parameter cannot be changed during operation. Save and turn device off/on so that 

the change becomes effective. 

4: Wire break on track A/ Clk. 

5: Wire break on track B/ Data. 

6: Wire break on track 0. 

7: Alarm bit of EnDat ® encoder is queued. 

8: Too many CRC errors for EnDat ® . 

9: Commutation offset incorrect. 

10: Resolver carrier (Resolver not/incorrectly connected, possible wire break) 

11: Resolver undervoltage (Resolver has wrong transmission factor) 

12: Resolver overvoltage (Resolver has wrong transmission factor) 

13: Resolver parameter 

14: Resolver failure (wire break) 

15: X120 Double transmission error occurred 

16: X120 Busy (encoder did not reply in time) 

17: X120 wire break 

18: SSI-Slave synchronization problems 

19: X4 Double transmission 

20: X4 Busy 

21: X4 wire break 

22: Ax5000 (no acknowledgment of axis switch) 

23: Ax5000 ref (comparison of E57 with E70) 

24: X120-speed; B297, G297 or I297 exceeded 

25: X4-speed; B297, G297 or I297 exceeded 

26: No Enc. found; either no encoder was found on X4 or the EnDat ® /SSI encoder has a wire 

break. 

27: AX5000 found.; a functional AX 5000 option board was found on X4 although incremental 

encoder or EnDat ® encoder was parameterized, or no EnDat ® encoder is connected to the AX 

5000 option board. 

28: EnDat found.; an EnDat ® encoder was found on X4 although another encoder was 

parameterized. 

29: AX5000/IncEnc; either X4 has a faulty AX 5000 option board or the A-track of an incremental 

encoder has a wire break. 

Event "40:invalid data" 

0 ... 7: Fault on the non-volatile memory of the control section board. 

1: Low-level write/read error or timeout 

2: Unknown data block. 

3: Block has no data security 

4: Data block has checksum error. 

5: Data block is "read only." 

6: Startup phase: block read error 

7: Block not found. 

16 ... 31: Non-volatile power module memory 

17: Low-level write/read error or timeout 

18: Unknown data block. 

19: Block has no data security 

20: Data block has checksum error. 

21: Data block is "read only." 

38: Startup phase: block read error 

23: Block not found. 

32 ... 47: Non-volatile encoder memory 

32: No nameplate data exists 

TR-77



STÖBER 




33: A parameter from the electrical motor nameplate could not be entered (limit value or non 

existent). 

48 bis 59: Non-volatile option 2 memory 

48: Error in non-volatile memory of option 2 with REA 5000 and XEA 5000 and XEA 5001 

respectively 

Event "52:communication" 

1: Error Control Event. Guard event or heartbeat event has occurred. 

2: SYNC Error. Sync message has not been received within the configured time in 1006 cycle 

period timeout. 

3: CAN controller has gone off with bus-off. 

4: PROFIBUS (under preparation). 

5: USS (under preparation). 

6: System bus (under preparation) 

Event "55:Option board" 

1: CAN 5000 failure; CAN 5000 was recognized , installed and failed. 

2: DP 5000 failure; DP 5000 was recognized, installed and failed. 

3: REA 5000 failure; REA 5000 was recognized, installed and failed. 

4: SEA 5000 failure; SEA 5000 was recognized, installed and failed. 

5: XEA 5000 failure; XEA 5000 or XEA 5001 was recognized, installed and failed. 

6: EncSim-init; could not be initialized on XEA. The motor may have turned during initialization. 

7: WrongOption; wrong or nonexisting option board 

(compar. E54/E58 with E68/E69) 

8: LEA 5000 failure; LEA 5000 was recognized, installed and failed. 

9: ECS 5000 failure; ECS 5000 was recognized, installed and failed. 

10: 24V failure; Failure of the 24 V supply for XEA 5001 or LEA 5000. 

Event "57:Runtime usage" 

Cause is the number of the affected task. 

Event "69:Motor connection" 

1: Contactor is stuck. With multiple-axis operation with POSISwitch ® , it was determined during 

axis switching or initial startup that current could flow although all contactors were supposed to 

have broken contact. 

2: No motor. Despite high output voltage and low speed, no current could be measured. A 

contactor may have broken contact. 

Event "70:Parameter consistency" 

1: Control mode B20 is set to servo but a suitable encoder is not selected (B26, Hxx). 

2: Control mode B26 is set to servo but the switching frequency B24 is set to 4 kHz. 

3: Control mode B26 is set to servo but the nominal motor current (B12) exceeds the servo 

nominal current (R24) of the device. 

4: The set motor poles (B10) and the resolver poles (H31) do not match. 

5: A negative slip results from the values for the nominal motor speed (B13), nominal motor 

frequency (B15) and motor poles (B10) (only when B26:Control mode is parameterized for 

ASM). 

7: SSI slave may not be used as motor encoder (synchronization problems) 

8: C01 may not be greater than B83. (B83 is the speed starting at which the motor is mechanically 

endangered.) 

Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 0A C0 00 hex 

E44 

Global 

read (0) 

Event cause: Diagnostic information for the fault which occurred last. Indication of the cause in 

plain text. 

Fieldbus: Type: Str16; USS-Adr: 05 0B 00 00 hex 

282Ch 

0h 

E48 

Global 

read (0) 

Device control state: State of the device state machine. The device state machine enables or 

disables the drive function and the power module (application on the active axis). 

0: Self-test; The inverter is executing a self test and calibration procedure and cannot be enabled 

yet. The drive function is disabled. The device state automatically changes after a short time to 

1:Switch on inhibit. 

1: Switch-on disable; This device state prevents an automatic restart during device startup and with 

the fault acknowledgment. The drive function is disabled. 

The device state can change to 2:Ready for switch-on when 

2830h 

0h 

TR-78



STÖBER 




- The startup disable ASP5000 permits operation (E67Starting lockout = 0:inactive) 

- The DC link is charged via the charging circuit 

- The enable is inactive 

- A possible axis switch is finished 

NOTE 

Remember that the change in device status from 1:Switch on inhibit to 2:Ready for switch-on 

depends on parameter A34. 

2: Ready for switch-on; The DC link is charged; E67Starting lockout is inactive; any possible axis 

switch is finished. The drive function is disabled. 

If the enable becomes active now, the device state changes to 3:Switched on. 

3: Switched on; The DC link is charged; E67Starting lockout is inactive; the power module is being 

prepared for operation. The drive function is disabled. 

The device state changes to 4:Enabled after the longer of the two times 4 msec or A150 cycle 

time. 

4: Enabled; The drive function is enabled. Reference values are processed. 

5: Fault; A fault has occurred. The fault memory was written. The drive function is disabled. The 

device state can changed to 1:Switch on inhibit when the fault is acknowledged. 

NOTE 

Remember that the change in device state from 1:Switch on inhibit to 2: Ready for switch-on 

depends on parameter A34. 

6: Fault reaction; A fault has occurred. The fault memory is being written. When A29 fault-quick 

stop occurs, the drive function remains enabled for the time of the quick stop. The device state 

changes to 5:Fault when 

- The fault memory is written AND either 

- The power module must be switched off (e.g., for short circuit or ground fault) 

- A67 Start up inhibit becomes = 1:active or 

- A29 Fault quick stop is = 0:inactive or 

- The quick stop ends (in standstill after maximum A39 t-max Q-Stop or with enable = inactive) or 

- When E06 DC-link-voltage becomes less than 130 V. 

7: Quick stop; A quick stop was triggered; the inverter moves with the quick stop ramp, speedcontrolled, 

to a standstill. The drive function remains enabled for the time of the quick stop. After 

the quick stop is concluded, the device state changes (depending on the device control in the 

global area, A39 t-max. Q-stop, A44 enablequick-stop, A45 quick stop end). 

Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 0C 00 00 hex 

E50 

Device: Indication of the device type (e.g., MDS 5015). 

Fieldbus: Type: Str16; USS-Adr: 05 0C 80 00 hex 

2832h 

0h 

Global 

read (0) 

E51 

Software version: Software version of the inverter (e.g., V5.0). 

Fieldbus: Type: Str16; USS-Adr: 05 0C C0 00 hex 

2833h 

0h 

Global 

read (0) 

E52 

Global 

read (1) 

Device number: Number of the device from a manufactured series. Corresponds to the number 

on the nameplate. 


2834h 

0h 

E53 

Global 

r=1, w=4 

Configuration identification global: Indicates the abbreviation for the configuration of the 

global area (independent of axis). If the configuration was changed, an asterisk (*) appears. 

Default setting: 5:CANopen 

Fieldbus: Type: Str16; USS-Adr: 05 0D 40 00 hex 

2835h 

0h 

E54 

Global 

read (1) 

Option board 1: Indication of the upper option board (e.g., CAN 5000) which was detected 

during initialization. 


2836h 

0h 

TR-79



STÖBER 




E55 Configuration identification axis: Indicates the abbreviation for the configuration of the axis. 2837h 0h 

If the configuration was changed, an asterisk (*) appears. 

Axis 

r=1, w=4 

Default setting: 16:TecControl 

Fieldbus: Type: Str16; USS-Adr: 05 0D C0 00 hex 

E56.0 

Global 

r=1, w=2 

Parameter identification: Indicates whether parameters of the axis 1 were changed via the 

operator panel (display and keys). When "0:Axis 1" is selected in A11 Axis Edit and at least one 

parameter was changed via the operator panel, the value of E56.0 Parameter identification is set to 

255. When"1:Axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The 

same also applies to axis 3 and 4. This can be used as an indication of unauthorized manipulation 

of parameters. 

2838h 

Array 

0h 

1: Default setting of POSITool. 

2..254: Value was purposely set by the user in POSITool or fieldbus and has not been changed 

yet. 

255: At least one value was changed via the operator panel! 

Exceptions: When A11 is set on the operator panel or A00 Save values is triggered, this has no 

effect on E56. 

Value range: 0 ... 1 ... 255 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 0E 00 00 hex 

E56.1 

Global 

r=1, w=2 







2838h 

Array 

1h 



yet. 




Value range: 0 ... 1 ... 255 


E56.2 

Global 

r=1, w=2 







2838h 

Array 

2h 



yet. 




Value range: 0 ... 1 ... 255 


TR-80



STÖBER 




E56.3 Parameter identification: Indicates whether parameters of the axis 4 were changed via the 2838h 3h 


Global 

Array 


r=1, w=2 255. When"1:Axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The 





yet. 




Value range: 0 ... 1 ... 255 


E57 

POSISwitch: Indication of a POSISwitch ® which was detected during initialization. 

2839h 

0h 

Global 

Fieldbus: Type: Str16; USS-Adr: 05 0E 40 00 hex 

read (1) 

E58 

Global 

read (1) 

Optional board 2: Indication of the lower option board (e.g., SEA 5000) which was detected 



283Ah 

0h 

E59 

Global 

r=1, w=4 

Configuration identification: Indicates the abbreviation for the complete configuration (global 

area and all four axes). If the configuration was changed, an asterisk (*) is shown. 

Default setting: user 

Fieldbus: Type: Str16; USS-Adr: 05 0E C0 00 hex 

283Bh 

0h 

E62 

Global 

Act. pos. T-max: Currently effective positive torque limit in relation to B18. 

Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 0F 80 00 hex 

283Eh 

0h 

read (1) 

E66 

Global 

Act. neg. T-max: Currently effective positive torque limit in relation to B18. 


2842h 

0h 

read (1) 

E67 

Global 

read (1) 

Starting lockout: Indication of the state of the startup-disable option. 

0: inactive; The starting lockout (startup disable) is inactive. The power section can be enabled. 

1: active; The starting lockout (startup disable) is active. The power section is reliably disabled. 

Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 10 C0 00 hex 

2843h 

0h 

E68 

Global 

read (3) 

Required optional board 1: Is entered by the POSITool configuration assistant. When the 

configuration is transferred via Paramodul to another device, a comparison of E68 and E54 ensures 

that all hardware resources are present. If not, the fault "55:option board" is triggered with E43 

event cause =7:wrong or missing option board . The fault can then not be acknowledged. 

2844h 

0h 

Default setting: CAN 5000 


E69 

Global 

read (3) 

Required optional board 2: Is entered by the POSITool configuration assistant. When the 

configuration is transferred via Paramodul to another device, a comparison of E69 and E58 ensures 

that all hardware resources are present. If not, the fault "55:option board" is triggered with E43 

event cause =7:wrong or missing option board . The fault can then not be acknowledged. 

2845h 

0h 

Default setting: REA 5000 


TR-81



STÖBER 




E70 Required Ax5000: Is entered by the POSITool configuration assistant. When the configuration 2846h 0h 

via Paramodul is transferred to another device, a comparison of E70 with E57 ensures that all 

Global 

hardware resources are present. If not, the fault "37:n-feedback" (from V5.2: 37:encoder) with E43 

read (3) event cause=23:Ax5000-n-reference is triggered. The fault can then not be acknowledged. 

Default setting: AX 5000/4 


E74 

Global 

read (1) 

AE3-Level: Level of signal queued on the analog input 3 (X102.1 - X102.2) (without consideration 

of F31, F32). To allow for an offset (the value which arrives at the inverter when the controller 

specifies 0 V), this must be entered in F31 with the opposite sign. 


Only when an XEA board is installed in the bottom option slot. 

284Ah 

0h 

E80 

Axis 

read (0) 

Operating condition: Indication of the current operating status as per the operating indication. 

Useful for fieldbus queries or serial remote control. 

10: PLCO_Init; 

11: PLCO_Passive; 


13: discrete motion; 

14: continuous motion; 

15: synchronous motion; 

16: stopping; 

17: error stop; 

18: homing; 

19: limit switch; 

20: denied; 

21: limited; 

22: aborted; 

23: waiting; 

24: delay; 

30: fault; 

31: self-test; 

32: switch-on disable; 

33: parametrization lock; 

34: quick stop; 

35: switched on; 

36: jog active; 

37: Stop activ; 

38: stop; 

39: not allowed direction; 

40: capturing; 

41: load start; 

42: accelerating; 

43: decelerating; 

44: reference > max reference; 

45: reference < min reference; 

46: zero torque; 

47: negative Torque; 

48: positive Torque; 


50: forward direction; 

51: backward direction; 

52: limit switch wrong; 

2850h 

0h 


TR-82



STÖBER 




E81 Event level: Indicates whether a current event is queued. The corresponding event type is 

2851h 0h 

indicated in E82. Useful for fieldbus polling or serial remote control. 

Global 

0: inactive; Das Ereignissystem ist inaktiv, der Umrichter arbeitet im Normalbetrieb. 

read (1) 

1: Message; Eine Meldung steht an. Der Betrieb wird fortgesetzt. 

2: Warning; Eine Warnung steht an. Der Betrieb kann bis zum Ablauf der diesem Ereignis 

zugehörigen Warnzeit (Anzeige in E83 Warnzeit) fortgesetzt werden, dann wird eine Störung 

ausgelöst. 

3: Fault; Eine Störung ist aufgetreten. Die Antriebsfunktion ist gesperrt. 


E82 

Global 

read (0) 

Event type: Indication of the currently queued event/fault. Useful for fieldbus polling or serial 

remote control. The cause is stored in E43 / E44. 

30: inactive; 

31: Short/ground; The hardware overcurrent switch off is active because the motor demands too 

much current from the inverter (interwinding fault, overload). 

32: Short/ground internal; During the enabling of the inverter, a short circuit was determined. An 

internal device error has probably occurred. 

33: Overcurrent; The total motor current exceeds the permissible maximum. Could be acceleration 

times are too short or torque limits in C03 and C05 were set incorrectly. 

34: Hardware fault; A hardware error has occurred (e.g., in the memory of the control section). See 

E43. 

35: Watchdog; The watchdog of the microprocessor has triggered. The microprocessor is being 

used to full capacity or its function may be faulty. 

36: High voltage; The voltage in the DC link exceeds the permissible maximum. This can be due to 

excessive network voltage, the feedback of the drive during braking mode, too low a braking 

resistor or due to a brake ramp which is too steep. 

37: Encoder; An error in the parameterized encoder was determined (for details, see E43). 

38: Overtemp.device sensor; The temperature measured by the device sensor exceeds the 

permissible maximum value. The cause may be that ambient and switching cabinet 

temperatures are too high. 

39: Overtemp.device i2t; The i2t-model for the inverter exceeds 100% of the thermal capacity. 

Causes may be an inverter overload due to a motor blockage or a switching frequency which is 

too high. 

40: Invalid data; While the non-volatile memory was being initialized, a data error was found (for 

details, see E43). 

41: Temp.MotorTMP; The motor temperature sensor reports excessive temperature. The motor 

may be overloaded or the temperature sensor is not connected. 

42: TempBrakeRes.; The i2t model for the braking resistor exceeds 100% of the capacity. The 

braking resistor may not be designed to handle the application. 

43: inactive; 

44: External fault 1; Triggering is programmed application-specifically. 

45: Overtemp.motor i2t; The i2t model of the motor reaches 100& of the load. The motor may be 

overloaded. 

46: Low voltage; The DC link voltage is below the limit value set in A35. The cause can be drops in 

the network voltage, the failure of a phase with three-phase connection or the acceleration 

times are too short. 

47: Torque limit; The torque permitted for static operation is exceeded in the controller types servo 

controller, vector controller or sensorless vector controller. The limits may have been set 

incorrectly in C03 and C05. 

48: inactive; 

49: inactive; 

50: inactive; 

51: inactive; 

52: Communication; A fault in communication was determined (for details, see E43). 

53: inactive; 

54: inactive; 

55: Option board; A fault in the operation of an option board was determined (for details, see E43). 

56: Overspeed; The measured speed was greater than C01 x 1.1 + 100 Rpm. The encoder may be 

defective. 

57: Second activation; The cycle time of a real-time task was exceeded (for details, see E43). 

58: Grounded; The power module has determined an error (starting with module 3). 

59: Overtemp.device i2t; The i2t model of the inverter exceeds 105% of the capacity. The cause 

2852h 

0h 

TR-83



STÖBER 




may be an overload of the inverter due to a motor blockage or a switching frequency which is 

too high. 

60: ; 

61: ; 

62: ; 

63: ; 

64: ; 

65: ; 

66: ; 

67: ; 

68: External fault 2; Triggering is programmed application-specifically. 

69: Motor connection; A connection error of the motor was determined (for details, see E43). 

70: Parameter consistency; The parameterization has inconsistencies (for details, see E43). 


E83 

Global 

read (1) 

Warning time: While warnings are running, the time remaining until the fault is triggered is 

indicated. Useful for fieldbus polling or serial remote control. 

Fieldbus: 1LSB=1s; PDO ; Type: U8; USS-Adr: 05 14 C0 00 hex 

2853h 

0h 

E84 

Active axis: Indication of the current axis. Useful for fieldbus polling or serial remote control. 

2854h 

0h 

Global 

read (1) 

0: Axis 1; 

1: Axis 2; 

2: Axis 3; 

3: Axis 4; 

4: inactive; 

5: inactive; 

6: inactive; 

7: inactive; 


E90 

M-Motor: Indication of the current motor torque in Nm. In contrast to E02, not smoothed. 

285Ah 

0h 

Global 

Fieldbus: 1LSB=0,01Nm; PDO ; Type: I16; raw value:1LSB=Fnct.no.16; USS-Adr: 05 16 80 00 hex 

read (3) 

E91 

Global 

read (3) 

n-motor: Indication of the current motor speed in Rpm. In contrast to E08, not smoothed. When 

the drive is operated without feedback, this speed is mathematically determined via the motor 

model (in this case, the actual motor speed may differ from the calculated speed). 


285Bh 

0h 

E92 

I-d: Flux current in %. 

285Ch 

0h 

Global 


read (3) 

E93 

I-q: Torque-generating current in %. 

285Dh 

0h 

Global 


read (3) 

E94 

I-a: Measured a-current components in ab-system. 

285Eh 

0h 

Global 


read (3) 

E95 

I-b: Measured b-current components in ab-system. 

285Fh 

0h 

Global 


read (3) 

TR-84



STÖBER 




E96 

Global 

read (3) 

I-u: Measured u-current components in uvw-system. 


2860h 0h 

E97 

I-v: Measured v-current component in uvw-sysstem. 

2861h 

0h 

Global 


read (3) 

E98 

Ud: Voltage in d-direction in V (chained peak voltage). 

2862h 

0h 

Global 

Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 05 18 80 00 hex 

read (3) 

E99 

Uq: Voltage in q-direction in V (chained peak voltage). 

2863h 

0h 

Global 

Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 05 18 C0 00 hex 

read (3) 

E100 

Global 

read (1) 

n-motor: Indication of the current motor speed as % in space-saving 16-bit format. The 

specification is related to C01 n-max. 


2864h 

0h 

E101 

Global 

read (1) 

I-Motor: Indicates the current motor current in % of the nominal device current at 4 kHz switching 

frequency. 

Fieldbus: 1LSB=1%; PDO ; Type: U8; USS-Adr: 05 19 40 00 hex 

2865h 

0h 

E120 

Equipment: The text entered in the field "equipment" during step 1/6 of the device configuration. 

2878h 

0h 

Global 


read (1) 

E121 

User: The text entered in the field "user" during step 1/6 of the device configuration. 

2879h 

0h 

Global 


read (1) 

E122.0 

Download information 

287Ah 

0h 

Global 


Array 

read (3) 

E122.1 


287Ah 

1h 

Global 


Array 

read (3) 

E122.2 


287Ah 

2h 

Global 


Array 

read (3) 

E122.3 


287Ah 

3h 

Global 


Array 

read (3) 

E149 

Global 

read (1) 

Hardware Version: Device family (FDS/MDS/SDS), hardware version of the power section 

(layout version), power section manufacturing date (calendar week and year). 


2895h 

0h 

TR-85



STÖBER 




E151 

Global 

read (2) 

Active switching frequency: The current switching frequency used by the inverter. 

Fieldbus: 1LSB=1kHz; Type: U8; USS-Adr: 05 25 C0 00 hex 

2897h 

0h 

E153 

Global 

Accumulated raw-motor-encoder: Supplies an accumulated raw value of the motor encoder 

parameterized in B26. The value contains the value of B35 as the adding offset. 

2899h 

0h 

read (3) 

Since these values are raw values, scaling depends on the motor encoder being used. 

• EnDat®, SSI: MSB=2048U 

• Resolver: 65536LSBs=1U (i.e., MSB=32768U) 

• Incremental encoder: 1LSB=1Count (4-fold evaluation of the number of markers) 




E154 

Global 

Raw motor-encoder: Supplies the raw value of the motor encoder parameterized in B26. The 

value contains the value of B35 as the adding offset. 

289Ah 

0h 

read (3) 

Since these values are raw values, scaling depends on the motor encoder being used. 

• EnDat®, SSI: MSB=2048U 

• Resolver: 65536LSBs=1U (i.e., MSB=32768U) 

• Incremental encoder: 1LSB=1Count (4-fold evaluation of the number of markers), Counter 

resolution: 16 bits 




E155 

Global 

read (3) 

Raw position-encoder: Raw value of the encoder parameterized in I02. The format varies 

depending on which encoder is used. For EnDat® and SSI encoders, the data word is specified leftjustified 

by the encoder. 

Example: 

- EnDat® Multiturn, SSI: MSB = 2048 encoder revolutions 

- EnDat® Singleturn, resolver: MSB = 0.5 encoder revolutions 

- Incremental encoder: Only the upper 16 bits are used. They contain the counted increments after 

4-fold evaluation. 

289Bh 

0h 



E156 

Global 

read (3) 

Raw master-encoder: Raw value of the encoder parameterized in G27. The format varies with 

the encoder being used. 

Example: 

- EnDat® Multiturn, SSI: MSB = 2048 encoder revolutions 

- EnDat® Singleturn, resolver: MSB = 0.5 encoder revolutions 

- Incremental encoder: Only the upper 16 bits are used. They contain the counted increments after 

4-fold evaluation. 

289Ch 

0h 



E161 

Global 

n-rmpg: The speed reference value on the output of the ramp generator. 

Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 28 40 00 hex 

28A1h 

0h 

read (3) 

E165 

Global 

Id-ref: Reference value for the flux current in %. 


28A5h 

0h 

read (3) 

TR-86



STÖBER 




E166 

Global 

read (3) 

Iq-ref: Reference value for the torque generating current in %. 


28A6h 

0h 

E167 

Power module state: Specifies whether the power end stage is enabled. 

28A7h 

0h 

Global 

read (3) 

192: power module off; 

248: activate power module; 

255: power module on; 


E170 

Global 

read (2) 

T-reference: Only for control types with torque specification. Reference torque currently required 

by the speed controller. 

Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 2A 80 00 hex 

28AAh 

0h 

E174 

Global 

read (3) 

CRC-counter: Counts non-volatilely the CRC and Busy errors which occurred on EnDat ® 

encoders. The occurrence of CRC errors indicates EMC problems. This value can be reset with 

A37→1. 


28AEh 

0h 

E175 

Global 

read (3) 

SSI-errors: Counts the erroneous protocols which occur with SSI encoders. Erroneous protocols 

are recognized when the maximum incremental value contained in H900 exceeds two consecutive 

protocols. The erroneous value is rejected. When the second error occurs in succession, the 

system malfunctions (maximum following error, encoder). 

Note: The parameter H900 can only be read/changed by level-4 users. 

28AFh 

0h 

Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 2B C0 00 hex 

E180 

Global 

read (3) 

Status positive T-limit: The positive torque limit is in effect. In the "comfort reference value" 


0: inactive; 

1: active; 

28B4h 

0h 


E181 

Global 

read (3) 

Status negative T-limit: The negative torque limit is in effect. In the "comfort reference value" 


0: inactive; 

1: active; 

28B5h 

0h 


E182 

Global 

read (3) 

Status positive n-limit: With operation with speed limiter or with torque control (C61=1), the 

positive maximum speed was reached. With operation without speed limiter or with speed control 

(C61=0), a too large positive reference value speed was limited to +C01. 

0: inactive; 

1: active; 

28B6h 

0h 


E183 

Global 

read (3) 

Status negative n-limit: With operation with speed limiter or torque control (C61=1), the 

negative maximum speed was reached. With operation without speed limiter or with speed control 

(C61=0), an excessively negative reference value speed was limited to -C01. 

0: inactive; 

1: active; 

28B7h 

0h 

Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 2D C0 00 hex 

E191 

Global 

r=2, w=4 

Runtime usage: Indication of the relative utilization of the real-time task by the graphic 

configuration. The maximum value is calculated for each cycle of the configuration. When utilization 

is too high (> approx. 75%), the cycle time in A150 should be set to a higher value. With changes of 

A150, E191 starts at 0%. 

28BFh 

0h 

Fieldbus: 1LSB=1%; Type: U16; raw value:1LSB=Fnct.no.9; USS-Adr: 05 2F C0 00 hex 

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Device status byte: This byte contains status signals of the device controller. 

28C8h 0h 

E200 

Global 

read (2) 

• Bit-0: Enabled. The drive is ready. No faults, the device status corresponds to E84=4:Oper. 

enabled. 

• Bit-1: Error. Device status is "fault reaction active" or "fault." 

• Bit-2: Quick stop (also quick stop in "fault reaction active"). 

• Bit-3, 4: With multiple-axis operation, the active axis is shown here. 

Bit 4 Bit 3 Axis 

0 0 Axis 1 

0 1 Axis 2 

1 0 Axis 3 

1 1 Axis 4 

• Bit-5: Axis in E84 is active. 

• Bit-6: Local: Local operation is activated. 

• Bit-7: Bit 7 in A180 (device control byte) is copied once every device controller cycle to bit 7 in 

E200 (device status byte). When bit 7 in A180 is toggled, the higher-level PLC is informed of a 

concluded communication cycle (send, evaluate, return data). For PROFIBUS for example, this 

permits cycle-time-optimized communication. The handshake bit 7 in A180 / E200 supplies no 

information as to whether the application has reacted to the process data. Depending on the 

application, other routines are provided for this (e.g., motion-Id for command positioning). 

NOTE 

You can only use the toggle signal of bit 7 when device controllers 3:terminals, 4:USS, 5:CANopen, 

6:PROFIBUS or 23:EtherCAT are used. If you configured a DSP 402 device controller, bit 7 always 

has signal status 0. 


F.. Control Interface 


F11 AE1-Offset: F11 is added to E10. The result is multiplied by F12. This signal is supplied to the 2A0Bh 0h 

configuration. To compensate for an offset (the value which arrives at the inverter when the 

Axis 

controller specifies 0 V), this must be entered in F11 with the opposite sign. 

r=2, w=2 

Value range in V: -10.000 ... 0,000 ... 10.000 

Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 02 C0 00 hex 

Only when a board is installed in the bottom option slot. 

F12 

Axis 

r=2, w=2 

AE1-gain: The result of the addition of F11 and E10 is multiplied by F12. This signal is supplied to 

the configuration. 

Value range in %: -400.0 ... 100,0 ... 400.0 



2A0Ch 

0h 

F21 

Axis 

r=2, w=2 

AE2-Offset: F21 is added to E16. The result is multiplied by F22. This signal is supplied to the 

configuration. To compensate for an offset (the value which arrives at the inverter when the 

controller specifies 0 V), this must be entered in F21 with the opposite sign. 


Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 05 40 00 hex 


2A15h 

0h 

F22 

Axis 

r=2, w=2 

AE2-gain: F21 is added to E16. The result is multiplied by F22. This signal is supplied to the 

configuration. 

Value range in %: -400.0 ... 100,0 ... 400.0 



2A16h 

0h 

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STÖBER 




F31 AE3-Offset: F31 is added to E74. The result is multiplied by F32. This signal is supplied to the 2A1Fh 0h 

configuration. To compensate an offset (the value which arrives at the inverter when the controller 

Axis 

specifies 0 V), this must be entered in F31 with opposite sign. 

r=2, w=2 


Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 07 C0 00 hex 


F32 

Axis 

r=2, w=2 

AE3-gain: F31 is added to E74. The result is multiplied by F32. This signal is supplied to the 

configuration. 

Value range in %: -400.0 ... 100,0 ... 400.0 



2A20h 

0h 

F40 

Axis 

r=2, w=2 

Analog-output1-source: The value of the parameterized coordinates is output on analog output 

(X100.6). A voltage of ±10 V is available on the terminals. The resolution is approx. 10 mV. The 

scanning time corresponds to A150. Only parameters with the data type "16-bit with sign" can be 

used as source (I16, see parameter editor, ±16384=±10 V). 

2A28h 

0h 




F41 

Axis 

r=2, w=2 

Analog-output1-offset: Offset of the analog output 1. The signal is multiplied by F42. F41 is 

then added. 


Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 0A 40 00 hex 


2A29h 

0h 

F42 

Analog-output1-gain: The signal is multiplied by F42. F41 is then added. 

2A2Ah 

0h 

Axis 

Value range in %: -3198.9 ... 100,0 ... 3198.9 

r=2, w=2 

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:1024·LSB=100%); USS-Adr: 06 0A 80 00 hex 


F50 

Axis 

r=2, w=2 

Analog-output2-source: The value of the parameterized coordinates is output on analog output 

(X100.7). A voltage of ±10 V is available on the terminals. The resolution is approx. 10 mV. The 

scanning time corresponds to A150. Only parameters with the data type "16-bit with sign" can be 

used as source (I16, see parameter editor, ±16384=±10 V). 

2A32h 

0h 




F51 

Axis 

r=2, w=2 

Analog-output2-offset: Offset of the analog output 2. The signal is multiplied by F52. F51 is 

then added. 


Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 0C C0 00 hex 


2A33h 

0h 

F52 

Analog-output2-gain: The signal is multiplied by F52. F51 is then added. 

2A34h 

0h 

Axis 

Value range in %: -3198.9 ... 100,0 ... 3198.9 

r=2, w=2 

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:1024·LSB=100%); USS-Adr: 06 0D 00 00 hex 


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BA1-source: The value of the parameterized coordinate is output on binary output 1 (X101.8). 2A3Dh 0h 

F61 

Axis 

r=2, w=2 

NOTE 

Please remember that binary output BA1 is already being used by the encoder simulation via the 

binary outputs. In this case no entry is permitted in F61. 

Value range: A00 ... 1.F181.0 ... A.Gxxx.yyyy (Parameter number in plain text) 

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 0F 40 00 hex 


F62 

BA2-source: The value of the parameterized coordinate is output on binary output 2 (X101.9). 

2A3Eh 

0h 

Axis 

r=2, w=2 

NOTE 

Please remember that binary output BA2 is already being used by the encoder simulation via the 

binary outputs. In this case no entry is permitted in F62. 


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 0F 80 00 hex 


F63 


2A3Fh 

0h 

Axis 


r=2, w=2 

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 0F C0 00 hex 


F64 


2A40h 

0h 

Axis 


r=2, w=2 



F65 


2A41h 

0h 

Axis 


r=2, w=2 



F66 


2A42h 

0h 

Axis 


r=2, w=2 



F67 


2A43h 

0h 

Axis 


r=2, w=2 



F68 


2A44h 

0h 

Axis 


r=2, w=2 



F69 


2A45h 

0h 

Axis 

r=2, w=2 



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STÖBER 




F70 

Axis 

r=2, w=2 




2A46h 0h 

F90 

Global 

r=2, w=3 

Release time axis-switch: Specifies the release time of the contactor used for the axis 

switchover. This minimum time is waited before the inverter lets the next contactor be applied. 



2A5Ah 

0h 

F91 

Global 

r=2, w=3 

Set time axis-switch: Specifies the set time of the contactor used for the axis switchover. This 

time is at least waited before the inverter lets the axis be electrified. 


Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 06 16 C0 00 hex 

2A5Bh 

0h 

F100 

Global, OFF 

r=1, w=1 

Brake release source: Selection of the source for the "release brake" signal. The signal can be 

permanently pre-specified as supplied by the binary inputs or the fieldbus. With F100=2:Parameter, 

A180, bit 6 (global parameter) is used as the signal source. This is the setting for fieldbus 

operation. 

2A64h 

0h 

Caution: The "release brake" signal releases the brake regardless of the device state - this may 

cause accidental movements. 

0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 


7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 



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STÖBER 


G.. Technology 


G00 PID closed loop gain: Total gain for the control error of the PID controller. 

2C00h 0h 

The value of the control error indicated in G180 is amplified with the gain G00 and distributed in 

Axis 

parallel to the P, I and D branch. 

r=2, w=3 

Value range in %: -200000.0 ... 100,0 ... 200000.0 


G02 

Axis 

r=2, w=3 

PID-controller Ki: Factor for the integral gain of the control error of the PID controller (see also 

G00). 

Example: With G00 = 100% and G02 = 1 1/s and constant control error, the value of G180 is 

reached at G19 in one second. 

2C02h 

0h 

Value range in 1/s: 0.00 ... 0,00 ... 30.00 

Fieldbus: 1LSB=0,01·1/s; Type: I32; (raw value:2147483647 = 500000.00 x 1/s); USS-Adr: 07 00 80 00 hex 

G03 

Axis 

r=2, w=3 

PID-controller Kd: Factor for the differential gain of the control error of the PID controller (see 

also G00). 


Fieldbus: 1LSB=0,1ms; Type: I32; (raw value:16 Bit=1·ms); USS-Adr: 07 00 C0 00 hex 

2C03h 

0h 

G06 

Axis 

r=2, w=3 

PID-controller Kp2: Factor for the proportional gain of the control error of the PID controller 

(see also G00). 

Value range in %: 0.0 ... 100,0 ... 20000.0 


2C06h 

0h 

G07 

PID-controller low pass: Time constant for the low pass filter of the differential portion. 

2C07h 

0h 

Axis 


r=2, w=3 

Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 07 01 C0 00 hex 

G08 

Axis 

r=2, w=3 

PID controller upper limit: Maximum value which the PID can reach. When this limit is 

reached, G181 or G200 Bit3 is set to 1. 

Value range in %: -400.0 ... 150,0 ... 400.0 


2C08h 

0h 

G09 

Axis 

r=2, w=3 

PID controller lower limit: Minimum value which the PID can reach. When this limit is 

reached, G182 or G200 Bit4 is set to 1. 

Value range in %: -400.0 ... -150,0 ... 400.0 


2C09h 

0h 

G11 

Axis 

r=2, w=3 

Tau lowpass actual value: Specifies the time constant of the PT1 low pass. When the actual 

signal which is queued has noise, this can be filtered out. 


Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 07 02 C0 00 hex 

2C0Bh 

0h 

G12 

Axis, OFF 

r=2, w=2 

Parametersource actual technologie value: Specifies the source to be read out for the 

actual value. A coordinate such as "E90" (M-Motor) must be entered. Only parameters of data type 

I16 can be used as sources. 


2C0Ch 

0h 


G13 

PID initial value: Initial value for the working mode of the PID controller set in G14. 

2C0Dh 

0h 

Axis 

Value range in %: -200.0 ... 0,0 ... 200.0 

r=2, w=3 


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G14 PID mode: Specifies the working mode of the PID controller. G13 is used as an auxiliary 

2C0Eh 0h 

parameter for this. When a mode causes the valid working range to be exceeded, the working 

Axis, OFF 

range is limited by the limit value in G08 or G09. 

r=2, w=3 

0: normal; 

1: Out=I-Part=0; 

2: Out=I-Part=G13; 

3: Out=G13,I-Part=Out-P; 

4: Out=PID keep,I-Part=G13; 


G15 

Axis 

r=2, w=3 

Technologie ref. value torque feedforward: Weighting ratio for feed forward of the torque 

reference value. When G15 = 0, feed forward is deactivated. 

Value range in %: 0 ... 80 ... 100 


2C0Fh 

0h 

G16 

PID ratio: Weighting ratio of the PID controller. When G16 = 0, the PID controller is deactivated. 

2C10h 

0h 

Axis 

Value range in %: 0 ... 100 ... 400 

r=2, w=3 


G18 

PID P-Part: Observation parameter for monitoring the P portion of the PID controller. 

2C12h 

0h 

Axis 


read (2) 

G19 

PID I-Part: Observation parameter for monitoring the I portion of the PID controller. 

2C13h 

0h 

Axis 

Fieldbus: 1LSB=0,1%; Type: I32; (raw value:16384·LSB=100%); USS-Adr: 07 04 C0 00 hex 

read (2) 

G90 

Global 

r=3, w=3 

PLL: Activates PLL control. 

PLL control synchronizes the inverter with the SYNC telegrams of CANbus. 

0: inactive; 

1: active; 

2C5Ah 

0h 

Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 16 80 00 hex 

G91 

Global 

r=3, w=3 

PLL phase-offset: Time offset value between the arrival of the SYNC telegram and the phase 

position of the cycle time on the inverter. 

Value range in µs: -32768 ... -800 ... 32767 

Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 07 16 C0 00 hex 

2C5Bh 

0h 

G92 

Global 

r=3, w=3 

PLL gain: Proportional gain of PLL control. 

The gain must be reduced when the jitter of the SYNC telegrams increases. 

Value range in %: 0.0 ... 20,0 ... 100.0 

Fieldbus: 1LSB=0,1%; Type: I32; (raw value:2,14748E9·LSB=100%); USS-Adr: 07 17 00 00 hex 

2C5Ch 

0h 

G93 

Global 

r=3, w=3 

PLL low pass: Determines the limit frequency of the low pass filter of PLL control. 

The time must be increased when the jitter of the SYNC telegrams increases. 



2C5Dh 

0h 

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STÖBER 




G95 PLL status: Shows the status of PLL control. 

2C5Fh 0h 

• Bit-0: PLL status 

Global 

• Bit-1: PLL status 

read (3) 00 PLL engaged 

01 Engaged, but more than half the control range is utilized (frequency too high). 

10 Engaged, but more than half the control range is utilized (frequency too low). 

11 PLL not engaged. 

• Bit-2: Is 1 when PLL has extended the internal cycle time (A150). 

• Bit-3: Is 1 when control hits the limits of the control range. 

• Bit-4: Is 1 when the measured cycle time (G96) is greater than the specification (G98). 

• Bit-5: Is 1 when G90 = inactive (PLL is deactivated). 

• Bit-6: Reserved 



G96 

PLL measured cycle-time: Cycle time of the SYNC telegrams determined by PLL control. 

2C60h 

0h 

Global 

Fieldbus: 1LSB=1µs; Type: I32; USS-Adr: 07 18 00 00 hex 

read (3) 

G97 

PLL cycle-correction: Cycle correction specified by PLL control. 

2C61h 

0h 

Global 

Fieldbus: 1LSB=1clock-cycles; Type: I8; USS-Adr: 07 18 40 00 hex 

read (3) 

G98 

Reference cycle-time: Specified value for the cycle time of the SYNC telegram. 

2C62h 

0h 

Global 

Value range in µs: 0 ... 4000 ... 8000 

r=3, w=3 

Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 07 18 80 00 hex 

G100 

Axis, OFF 

r=1, w=1 

Source negate technologie reference value: Selection of the source for the 

"neg.ref.value" signal. 

When G100=2:parameter the control byte or control word is used as the signal source. This setting 

should be used for fieldbus operation. The control word can be set to different parameters for 

different applications. The list below indicates the control words for the different applications. The 

signal can be directly monitored via G300 on the block input. 




2C64h 

0h 

0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 


7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 

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STÖBER 





23: BE11; 


25: BE12; 


27: BE13; 



G101 

Axis, OFF 

r=1, w=1 

Source PID controller disable: Disable selection of the source for the PID signal. 








0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 


7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 


2C65h 

0h 


G102 

Axis 

r=1, w=1 

Source PID controller set: Set selection of the source for the PID controller signal. 








0: Low; 

1: High; 

2: parameter; 

3: BE1; 


5: BE2; 

2C66h 

0h 

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STÖBER 





7: BE3; 


9: BE4; 


11: BE5; 


13: BE6; 


15: BE7; 


17: BE8; 


19: BE9; 


21: BE10; 


23: BE11; 


25: BE12; 


27: BE13; 



G132 

Axis, OFF 

r=1, w=1 

Source technology reference value: Selection of the source for the "Tech.ref.Value" signal. 

The reference value can be supplied by the analog inputs or by the fieldbus. When 

G132=4:parameter the parameter G232 is used as the signal source. 

0: 0 (zero); 

1: AE1; 

2: AE2; 

3: AE3; 

4: parameter; 

2C84h 

0h 


G133 

Axis, OFF 

r=1, w=1 

Source actual technology value: Selection of the source for the "Tech.ActValue" signal. The 

actual value can be supplied by the analog inputs or by the fieldbus. When G133=4:parameter the 

parameter G233 is used as the signal source. 

0: 0 (zero); 

1: AE1; 

2: AE2; 

3: AE3; 

4: parameter; 

2C85h 

0h 


G180 

Axis 

read (2) 

PID control error: Display parameter for the control error of the PID controller (G180 = G332 - 

G333). 

Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=200,0%); USS-Adr: 07 2D 00 00 hex 

2CB4h 

0h 

G181 

Axis 

read (1) 

PID upper limit: Binary signal, assumes the value "1" when the PID controller reaches the 

maximum permissible value (can be set with G08) on the output. In fieldbus mode the signal can be 

read for the following status words based on the selected application: 




2CB5h 

0h 

0: inactive; 

1: active; 


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STÖBER 




G182 PID lower limit: Binary signal, assumes the value "1" when the PID controller reaches the 2CB6h 0h 

minimum permissible value (can be set with G09) on the output. In fieldbus mode the signal can be 

Axis 

read for the following status words based on the selected application: 

read (1) 




0: inactive; 

1: active; 


G185 

PID set value: Display parameter for the PID controller output after the weighting ratio (G16). 

Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 07 2E 40 00 hex 

2CB9h 

0h 

Axis 

read (2) 

G200 

Global 

read (2) 

Statusbyte technology controller: This byte contains status signals of the application. 

• Bit-0: Standstill (see D180). 

• Bit-1: ReferenceValueReached: The ramp generator has reached its reference value (see D181). 

• Bit-2: TorqueLimit: The positive or negative torque limit has been reached (see D182). 

• Bit-3: PID upper Limit: The upper limit of the PID controller has been reached (see G181). 

• Bit-4: PID lower Limit: The lower limit of the PID controller has been reached (see G182). 

• Bit-5: Rangectrl. upper (limit above upper limit): The upper limit of range control has been reached 

(see C180). 

• Bit-6: Rangectrl. lower (limit below lower limit): The lower limit of range control has been reached 

(see C181). 

• Bit-7: Reserved (always low). 


2CC8h 

0h 

G210 

Global 

r=2, w=2 

Controlbyte technology controller: This byte contains reference value signals to the 

application. 

• Bit-0: Reverse (direction): When the bit = 1, the value of the feed forward (D230) is negated. 

• Bit-1: ExternalFault1: The fault "44:externalFault1" is triggered. 

• Bit-2: Tech.Reverse (negate technology reference value): When the bit = 1, the reference value of 

the technology controller (G232) is negated. 

• Bit-3: PIDdisable (disable PID controller): When the bit = 1, the PID controller is deactivated. 

• Bit-4: PIDModEn (enable PID mode selection): When the bit = 1, the working mode of the PID 

controller can be specified with PID mode (G14). When the bit = 0, the PID mode is always 

0:normal 




Value range: 0 ... 00000000bin ... 255 (Representation binary) 


2CD2h 

0h 

G232 

Global 

r=2, w=3 

Technology reference value: Technology reference value of the "technology controller" 

application (control variable of the control loop). The value is processed when G132 is 

"4:parameter." 

Value range in %: -200.0 ... 0,0 ... 200.0 


2CE8h 

0h 

G233 

Global 

r=2, w=3 

Actual technology value: Technology actual value of the "technology controller" application. 

The value is processed when G133 is 4: parameter. The actual value is filtered with a PT1 low pass 

(G11) before it is processed on the PID controller. 

Value range in %: -200.0 ... 0,0 ... 200.0 


2CE9h 

0h 

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STÖBER 




G300 Status negate technology reference value: Display parameter for the current signal state 2D2Ch 0h 

on the input of the technology controller. G300 shows the state regardless of the source selected in 

Axis 

G100. 

read (2) 

0: inactive; 

1: active; 


G301 

Axis 

read (2) 

Status PID controller disable: Display parameter for the current signal state on the input of 

the technology controller. G301 shows the state regardless of the source selected in G101. 

0: inactive; 

1: active; 

2D2Dh 

0h 


G302 

Axis 

Status PID Mode: Display parameter for the current signal state on the input of the PID 

controller. G302 shows the state regardless of the mode selected in G14. 

2D2Eh 

0h 

read (2) 

G332 

Axis 

read (2) 

Status technology value: Display parameter for the current reference value of the technology 

controller after the inversion point. 


2D4Ch 

0h 

G333 

Axis 

read (2) 

Status actual technology value: Display parameter for the current actual value of the 

technology controller after the low pass filter. 


2D4Dh 

0h 

H.. Encoder 


H00 

Axis, OFF 

r=2, w=2 

X4-function: Function of encoder interface X4 (motor encoder). 

NOTE 

Please remember that only the setting 3:Incremental-encoder In is available on the FDS 5000. 

NOTE 

Also please remember that a change in H00 may cause position values to be rescaled (in 

positioning applications). Scaling can take several seconds. 

2E00h 0h 

0: inactive; 

3: incremental encoder in; (only for asynchronous motors) 

64: EnDat ® ; 

65: SSI master; 


H01 

Axis, OFF 

r=2, w=2 

X4-increments: Number of increments for the encoder set in H00. With incremental encoders, 

each increment supplies 4 counting increments via the edge evaluation and thus a four-fold higher 

resolution of the position. 

Value range in inc/r: 30 ... 1024 ... 8191 

2E01h 

0h 

Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 00 40 00 hex 

Only when H00 = 3:EncoderIn. 

H02 

Axis, OFF 

r=2, w=2 

X4-inverted: Inverts the sign of the angle supplied by the encoder in the encoder acquisition. Can 

be used for reversed phases. Adhere to B05! 

0: inactive; 

1: active; 

2E02h 

0h 


Only when H00 is not 0:inactive. 

TR-98



STÖBER 


H.. Encoder 


H05 

Axis, OFF 

r=2, w=2 

X4-SSI-code: Type of coding of the angle via the SSI encoder. 

0: gray; 

1: binary; 


Only when H00 = 65:SSI-Master. 

2E05h 0h 

H06 

Axis, OFF 

r=2, w=2 

X4-SSI data bits: With rotating encoders, the 12 most significant bits correspond to whole 

encoder revolutions (multiturns) after which 12 or 13 bits can still be coded within one rotation. 

When 24 bits are set, the bit with the least significance is forced to 0. 

Value range: 24 ... 25 ... 25 

2E06h 

0h 


Only when H00 = 65:SSI-Master. 

H08 

Axis, OFF 

r=2, w=2 

PosiSwitch ® encoder selector: Available as an option, the POSISwitch ® control module 

permits the connection of several motors to one inverter. In H08 it can be set separately for each of 

the four (software) axes which connection on the POSISwitch ® (i.e., which motor) is allocated to 

the particular axis configuration. This routine permits two or more applications to be run together on 

separate (software) axes with a single motor. 

2E08h 

0h 

Note: Following a change in parameter H08, correct evaluation of the electronic nameplate is not 

ensured until after a device new start. 

0: Enc1; 

1: Enc2; 

2: Enc3; 

3: Enc4; 


Only when a POSISwitch ® was detected on X4. 

H18 

Global, OFF 

read (2) 

Posi-switch ® port-status: Indicates as a binary word the POSISwitch ® ports to which 

encoders are connected. This is determined by the inverter during startup. 


Only when a POSISwitch ® was detected on X4. 

2E12h 

0h 

H40 

Axis, OFF 

BE-encoder: Function of the encoder evaluation on BE3 (X101.13), BE4 (X101.14) and BE5 

(X101.15). 

2E28h 

0h 

r=2, w=2 

NOTE 



0: inactive; 

1: incremental encoder in; 

2: stepmotor In; 



H41 

Axis, OFF 

r=2, w=2 

BE-increments: Increments per encoder revolution of the encoder on BE4 (X101.14) and BE5 

(X101.15). With incremental encoders, each increment supplies 4 counting steps via edge 

evaluation and thus four times as high a resolution of the position. 


2E29h 

0h 

Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 0A 40 00 hex 

Only when a board is installed in the bottom option slot and H40 is not 0:inactive. 

TR-99



STÖBER 


H.. Encoder 


H42 BE-inverted: Inverts the sign of the angle supplied by the BE encoder in the encoder acquisition. 2E2Ah 0h 

Can be used for reversed motor phases. 

Axis, OFF 

r=2, w=2 

0: inactive; 

1: active; 



H60 

Axis, OFF 

r=2, w=2 

BA-encodersimulation: Function of the encoder simulation on binary outputs BA1 and BA2 

(terminals X101.16 and X101.17). The encoder simulation is available as system function in all 

applications. 

Important: The encoder simulation only works when no other function is assigned to the binary 

outputs. If present at all in the application, the corresponding parameters F61 and F62 may not 

contain any entries (blank input). 

2E3Ch 

0h 

0: inactive; 

1: incremental encoder simulation; 

2: stepmotor Simulation; 



H62 

BA-inverted: Inverts the sign of the BA encoder simulation. 

2E3Eh 

0h 

Axis, OFF 

r=2, w=2 

0: inactive; 

1: active; 



H63 

Axis, OFF 

r=2, w=2 

BA-increments: Increments of the encoder simulation on BA1 / BA2. When the source is an 

absolute value encoder, H63 specifies the increments as with a real incremental encoder. When the 

source is an incremental encoder, the scaling factor determines the selection. 1:2 means that half 

of the source increments are output on the BAs. 

2E3Fh 

0h 

1: 64 i/r(1:16); 

2: 128 i/r(1:8); 

3: 256 i/r(1:4); 

4: 512 i/r(1:2); 

5: 1024 i/r(1:1); 



H67 

Axis, OFF 

r=2, w=2 

BA-encodersimulation source: Specifies which source is used as position encoder for the BA 

encoder simulation. 

0: motor-encoder; 

1: Configuration; H67=1 provides an opportunity to calculate as desired the increments to be output 

within the graphic configuration (e.g., as frequency proportionate to the motor torque). In 

standard applications, simulation with H67=1 usually does not take effect. 

2E43h 

0h 



TR-100



STÖBER 


H.. Encoder 


H120 X120-Function: Function of plug connector X120 on the expanded I/O terminal module (XEA 2E78h 0h 

5000 and XEA 5001 respectively). 

Axis, OFF 

r=2, w=2 

NOTE 

The X120 interface on the REA 5000 option board permanently simulates TTL encoder signals in 

reference to a resolver connected to X140. 

This is the reason why this interface cannot be affected with H120. 

NOTE 



0: inactive; 

4: incremental encoder in; 

5: stepmotor In; 

67: SSI master; 

68: SSI slave; 

80: incremental encoder simulation; 

81: stepmotor Simulation; 

82: SSI simulation; 



H121 

Axis, OFF 

r=2, w=2 

X120-increments: Increments per encoder rotation of the encoder on X120. With incremental 

encoders each increment supplies 4 counting steps via edge evaluation and thus four times as high 

a resolution of the position. 


2E79h 

0h 

Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 1E 40 00 hex 

Only when an XEA board is installed in the bottom option slot and an encoder input is 

parameterized in H120. 

H122 

Axis, OFF 

r=2, w=2 

X120-inverted: Inverts the sign of the angle supplied by the X120 encoder in the encoder 

acquisition. Can be used for reversed motor phases. Adhere to B05! 

0: inactive; 

1: active; 

2E7Ah 

0h 


Either when an XEA board is installed in the lower option slot and H120 is not 0:inactive or 

when an REA board is installed in the lower option slot. 

H123 

Axis, OFF 

r=2, w=2 

X120-encoder simulation increments: Increments of the encoder simulation on X120. 

When the source is an absolute value encoder, H123 specifies the increments as with a real 

incremental encoder. When the source is an incremental encoder, the scaling factor provides the 

selection. 1:2 means that half of the source increments are output on X120. 2:1 means that twice as 

many increments are output on X120. 

2E7Bh 

0h 

NOTE 

The X120 interface on the REA 5000 option board permanently simulates TTL encoder signals in 

reference to a resolver connected to X140. 

This is the reason why the scaling factor set in H123 always refers to X140 in this case. 

1: 64 i/r(1:16); 

2: 128 i/r(1:8); 

3: 256 i/r(1:4); 

4: 512 i/r(1:2); 

5: 1024 i/r(1:1); 

6: 2048 i/r(2:1); 

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1E C0 00 hex 

Either when an XEA board is installed in the lower option slot and an encoder simulation is 

parameterized in H120 or when an REA board is installed in the lower option slot. 

TR-101



STÖBER 


H.. Encoder 


H124 

Axis, OFF 

X120-zero position offset: Shift the zero pulse during incremental encoder simulation. 

Value range in °: 0.0 ... 0,0 ... 360.0 

2E7Ch 0h 

r=2, w=2 Fieldbus: 1LSB=0,1°; Type: I16; USS-Adr: 08 1F 00 00 hex 

Either when an XEA board is installed in the lower option slot and an encoder simulation is 

parameterized in H120 or when an REA board is installed in the lower option slot. 

H125 

X120-SSI-Code: Type of angle coding via the SSI encoder and for the SSI simulation. 

2E7Dh 

0h 

Axis, OFF 

r=2, w=2 

0: gray; 

1: binary; 


Only when an XEA board is installed in the bottom option slot and an SSI functionality is 

selected in H120. 

H126 

Axis, OFF 

r=2, w=2 

X120-SSI-data bits: With rotating encoders, the 12 most significant bits correspond to whole 

encoder revolutions (multiturns) after which 12 or 13 bits can still be coded within one revolution. 

When 24 bits are set, the bit with the least significance is forced to 0. 

Value range: 24 ... 25 ... 25 

2E7Eh 

0h 


Only when an XEA board is installed in the bottom option slot and an SSI functionality is 

selected in H120. 

H127 

Axis, OFF 

r=2, w=2 

X120-encoder simulation source: Specifies which source will be used as position encoder 

for the X120 encoder simulation. 

0: motor-encoder; 

1: configuration; 

2E7Fh 

0h 


Only when E58 = XEA 5000 (and XEA 5001 respectively) and H120 is greater than 

80:Incremental-Encoder-Simulation. 

H140 

Axis, OFF 

X140-function: Function of plug connector X140 on the resolver I/O terminal module (REA 

5000). 

2E8Ch 

0h 

r=2, w=2 

NOTE 



0: inactive; 

66: resolver; 


Only when a resolver option board is installed in the bottom option slot. 

H142 

Axis, OFF 

r=2, w=2 

X140-inverted: Inverts the sign of the angle supplied by the X140 encoder in the encoder 

acquisition. Can be used for reversed motor phases. Adhere to B05! 

0: inactive; 

1: active; 

2E8Eh 

0h 


Only when a resolver option board is installed in the bottom option slot and H140 is not 

0:inactive. 

H148 

X140-resolver poles: Number of poles of the resolver on X140. 

2E94h 

0h 

Axis, OFF 

Value range: 2 ... 2 ... 16 

r=2, w=2 

Fieldbus: 1LSB=1; Type: U8; (raw value:255 = 510); USS-Adr: 08 25 00 00 hex 

Only when a resolver option board is installed in the bottom option slot and H140 is not 

0:inactive. 

TR-102



STÖBER 


R.. Production data 


R01.0 Hardware-version power-unit for hardware: Number specifying the hardware status of the 4201h 0h 

power pack. All changes in the hardware states are counted here. 

Global 

read (3) 


R01.1 

Global 

read (3) 

Hardware-version power-unit for software : Number specifying the hardware status of the 

power pack. Only changes in the hardware states which require a software adjustment are counted 

here. 


4201h 

1h 

R02 

Power phases: Specifies whether the device is a single-phase or three-phase device. 

4202h 

0h 

Global 

read (3) 

0: Single-phase; 

1: Three-phase; 


R03 

Power supply: Power supply of the input rectifier. 

4203h 

0h 

Global 

Fieldbus: 1LSB=1V; Type: I16; USS-Adr: 12 00 C0 00 hex 

read (3) 

R04 

Global 

read (3) 

Nominal current async: Nominal current of the inverter for operation of asynchronous 

machines and normal switching (B24=4 kHz). 


4204h 

0h 

R05 

Global 

read (3) 

Upper temperature limit: Maximum permissible inverter temperature. When the measured 

inverter temperature E25 exceeds this value, a fault "38: Temperature device sensor" is triggered. 

Fieldbus: 1LSB=1°C; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 12 01 40 00 hex 

4205h 

0h 

R24 

Global 

read (3) 

Nominal current servo: Nominal current of the inverter during operation with servo motors and 

normal switching (B24=8 kHz). 


4218h 

0h 

R25 

Global 

read (3) 

Lower temperature limit: Minimum permissible inverter temperature. When the measured 

inverter temperature E25 passes below this value, a fault "38: Temperature device sensor" is 

triggered. May indicate that the temperature sensor is defective. 

Fieldbus: 1LSB=1°C; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 12 06 40 00 hex 

4219h 

0h 

R26 

Global 

read (3) 

Maximum current async: Specifies the current strength above which the inverter triggers a 

fault "33: overcurrent" during operation with ASM. Specification is made in %, reference value is 

R04. 


421Ah 

0h 

R27 

Global 

read (3) 

Maximum current servo: Specifies the current strength above which the inverter triggers a 

fault "33: overcurrent" during operation with servo. Specification is made in %, reference value is 

R24. 


421Bh 

0h 

R28 

Global 

read (3) 

Upper voltage limit: Maximum permissible DC link voltage. When the measured DC link 

voltage E03 exceeds this value, a fault "36: high voltage" is triggered. 


421Ch 

0h 

R29 

Global 

read (3) 

Lower voltage limit: Minimum required DC link voltage. Represents the lower limit for 

parameter A35. 


421Dh 

0h 

TR-103



STÖBER 


R.. Production data 


R30 Brake chopper available: Specifies whether a brake resistance can be connected to the 421Eh 0h 

inverter. 

Global 

read (3) 

0: inactive; No brake resistance possible. 

1: active; Brake resistance possible. 


R31 

Global 

read (3) 

Brake chopper on level: The brake chopper is turned on at the latest when this value is 

exceeded. 

Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 3277 V); USS-Adr: 12 07 C0 00 hex 

421Fh 

0h 

R32 

Global 

read (3) 

Brake chopper off level: The brake chopper is switched off at the latest when this value is 

passed below. 


4220h 

0h 

R33 

Global 

read (3) 

Maximum motor power: Maximum power which a motor that is operated on this inverter may 

have. Represents the upper limit for B11. 

Fieldbus: 1LSB=0,001kW; Type: I16; (raw value:1LSB=0,01·kW); USS-Adr: 12 08 40 00 hex 

4221h 

0h 

R34 

Global 

read (3) 

Maximum brakeresistor power: Maximum power which a brake resistor that is connected to 

this inverter may have. Represents the upper limit for A22. 

Fieldbus: 1LSB=1W; Type: I16; (raw value:1LSB=10·W); USS-Adr: 12 08 80 00 hex 

4222h 

0h 

R35 

Global 

read (3) 

Minimum brakeresistor resistance: Minimum resistance value which a braking resistor 

connected to this inverter must have. Represents the lower limit for A21. 

Fieldbus: 1LSB=1Ohm; Type: I16; (raw value:32767 = 3277 Ohm); USS-Adr: 12 08 C0 00 hex 

4223h 

0h 

R36.0 

Global 

read (3) 

Hardware-version control-unit for hardware: Number specifying the hardware version of 

the control unit. All changes in the hardware states are counted here. 


4224h 

0h 

R36.1 

Global 

read (3) 

Hardware-version control-unit for software: Number specifying the hardware version of 

the control unit. All changes in the hardware states which require a software adjustment are 

counted here. 


4224h 

1h 

T.. Scope 


T25 Automatic scope start: When T25 is "1:active," Scope starts automatically after the 

4619h 0h 

configuration is downloaded. With a device new start, Scope is also automatically started with the 

Global 

settings saved last. 

r=3, w=3 

0: inactive; 

1: active; 


TR-104



STÖBER 


U.. Protection functions 


U00 

Global 

r=3, w=3 

Level low voltage: Level at which the event "46:low voltage" is triggered. 

2: Warning; After the tolerance time in U01 expires, the device assumes fault status. 

3: Fault; When the value in A35 is passed below, the device immediately assumes fault status. 


4800h 0h 

U01 

Global 

r=3, w=3 

Time low voltage: Can only be set with U00=2:Warning. Defines the time during which the 

triggering of low voltage monitoring is tolerated. After expiration of this time, the device assumes 

fault status. 


4801h 

0h 

Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 00 40 00 hex 

Only when the appropriate event level is parameterized to 2:Warning. 

U02 

Global 

r=3, w=3 

Level overtemperature Device i2t: Parallel to the monitoring of the heat dissipater 

temperature, an additional protective function is offered via i²t. The device load can be indicated as 

a percentage via parameter E22. If the value in E22 is greater than 100%, U02 is triggered. 

0: inactive; Device does not react to the triggering of U02. 

1: Message; When U02 is triggered, this is only indicated. The device continues to remain ready for 

operation. 

2: Warning; After expiration of the tolerance time in U03, the device assumes fault status (for E39, 

see chap. 17). 

3: Fault; After U02 is triggered, the device immediately assumes fault status (for E39, see chap. 17). 

4802h 

0h 


U03 

Global 

r=3, w=3 

Time overtemperature Device i2t: Can only be set with U02=2:Warning. Defines the time 

during which a trigger of the i²t monitoring is tolerated. After expiration of this time, the device 

assumes fault status. 


4803h 

0h 

Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 00 C0 00 hex 


U10 

Global 

r=3, w=3 

Level temperature motor i2t: Parallel to the monitoring of the positor line on the motor, the 

inverter simulates the motor temperature via an i²t model. The motor load is indicated as a 

percentage in parameter E23. If the value in E23 is greater than 100%, U10 is triggered. 


1: Message; Triggering of U10 is only indicated. The device continues to be ready for operation. 

2: Warning; After expiration of the tolerance time U11, the device assume fault status. 

480Ah 

0h 


U11 

Global 

r=3, w=3 

Time temperature motor i2t: Can only be set when U10=2:Warning. Defines the time during 

which a trigger of i²t monitoring is tolerated. After expiration of this time, the device assumes fault 

status. 


480Bh 

0h 



U12 

Global 

r=3, w=3 

Level motor connection: When the axis switch via POSISwitch ® is utilized, the inverter can 

test during switching whether the contactor of the motor to be switched off has actually broken 

contact (opened). In addition, under certain circumstances, it can be determined that no motor is 

connected. 

480Ch 

0h 

0: inactive; 

3: Fault; 


TR-105



STÖBER 




U15 

Global 

r=3, w=3 

Level MotorTMP: Trips when the motor temperature sensor on X2 triggers. 

2: Warning; After expiration of the tolerance time U16, the device assume fault status. 

3: Fault; The device immediately assumes fault status after the motor TMP is triggered. 


480Fh 0h 

U16 

Global 

r=3, w=3 

Time MotorTMP: Can only be set when U15=2:Warning. Defines the time during which 

triggering of the motor TMP is tolerated. After expiration of this time, the device assumes fault 

status. 


4810h 

0h 



U20 

Axis 

r=3, w=3 

Level M-Max limit: When the calculated motor torque exceeds the current torque limit in E62 

during stationary operation, U20 is triggered. 


1: Message; Triggering of U20 is only indicated. The device continues to remain ready for 

operation. 

2: Warning; After expiration of the tolerance time in U21, the device assumes fault status. 

3: Fault; The device immediately assumes fault status after U20 is triggered. 

4814h 

0h 


U21 

Axis 

r=3, w=3 

Time M-Max limit: Can only be set when U20=2:Warning. Defines the time during which a drive 

overload is tolerated. After expiration of this time, the device assumes fault status. 




4815h 

0h 

U80 

Axis 

r=3, w=3 

Fault sample parameter 0: Each of the 10 fault memory entries has space for user-defined 

data which are also saved when a fault is triggered. The parameter to be recorded is set here. 



4850h 

0h 

U81 

Axis 

r=3, w=3 





4851h 

0h 

U82 

Axis 

r=3, w=3 





4852h 

0h 

U83 

Axis 

r=3, w=3 





4853h 

0h 

U100 

Axis 

r=3, w=3 

Level application event 0: Application-specific event no. 60. Starting with the level 

"1:Message," the display shows the event number with the text specified in U102 (e.g., "60:My 

fault") when this event occurs. 

0: inactive; 

1: Message; 

2: Warning; 

3: Fault; 

4864h 

0h 


TR-106



STÖBER 




U101 Time application event 0: Can only be set with U100=2:Warning. Defines the time during 4865h 0h 

which the event remains a warning. After expiration of this time, the device assumes fault status. 

Axis 


r=3, w=3 



U102 

Axis 

r=3, w=3 

Text application event 0: Text which appears on the display when the event is triggered. 

Default setting: Ext0 


4866h 

0h 

U110 

Axis 

r=3, w=3 

Level application event1: Application-specific event no. Nr. 61. Starting with the level 

"1:Message," the display shows the event number with the text specified in U112 (e.g., "61:My 

fault") when this event occurs. 

0: inactive; 

1: Message; 

2: Warning; 

3: Fault; 

486Eh 

0h 


U111 

Axis 

r=3, w=3 

Time application event 1: Can only be set when U110=2:Warning. Defines the time during 



Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 1B C0 00 hex 


486Fh 

0h 

U112 

Axis 

Text application event 1: Indication which appears on the display when the event is triggered. 


4870h 

0h 

r=3, w=3 

Fieldbus: Type: Str16; USS-Adr: 15 1C 00 00 hex 

U120 

Axis 

r=3, w=3 


"1:Message," the event number and the text specified in U122 (e.g., "62:My fault") appear on the 

display when this event occurs. 

0: inactive; 

1: Message; 

2: Warning; 

3: Fault; 

4878h 

0h 


U121 

Axis 

r=3, w=3 




Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 1E 40 00 hex 


4879h 

0h 

U122 

Axis 



487Ah 

0h 

r=3, w=3 


U130 

Axis 

r=3, w=3 

Level application event 3: Application-specific event no. 63. Starting with level "1:Message," 

the event number and the text specified in U132 (e.g., "63:My fault") appear on the display when 

this event occurs. 

0: inactive; 

1: Message; 

2: Warning; 

3: Fault; 

4882h 

0h 


TR-107



STÖBER 




U131 Time application event 3: Can only be set when U130=2:Warning. Defines the time during 4883h 0h 

which the event remains a warning. After this time expires, the device assumes fault status. 

Axis 


r=3, w=3 



U132 

Axis 

r=3, w=3 




4884h 

0h 

U140 

Axis 

r=3, w=3 




0: inactive; 

1: Message; 

2: Warning; 

3: Fault; 

488Ch 

0h 


U141 

Axis 

r=3, w=3 






488Dh 

0h 

U142 

Axis 



488Eh 

0h 

r=3, w=3 


U150 

Axis 

r=3, w=3 




0: inactive; 

1: Message; 

2: Warning; 

3: Fault; 

4896h 

0h 


U151 

Axis 

r=3, w=3 






4897h 

0h 

U152 

Axis 



4898h 

0h 

r=3, w=3 


U160 

Axis 

r=3, w=3 




0: inactive; 

1: Message; 

2: Warning; 

3: Fault; 

48A0h 

0h 


TR-108



STÖBER 




U161 Time application event 6: Can only be set when U160=2:Warning. Defines the time during 48A1h 0h 


Axis 

r=3, w=3 




U162 


48A2h 

0h 

Axis 


r=3, w=3 


U170 

Axis 

r=3, w=3 




0: inactive; 

1: Message; 

2: Warning; 

3: Fault; 

48AAh 

0h 


U171 

Axis 

r=3, w=3 




Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 2A C0 00 hex 


48ABh 

0h 

U172 


48ACh 

0h 

Axis 


r=3, w=3 

Fieldbus: Type: Str16; USS-Adr: 15 2B 00 00 hex 

U180 

Axis 

r=2, w=2 

Text external fault 1: In addition to the 8 external events whose level (fault, warning, and so 

on) can be specified as desired by the user, two other events which always trigger a fault are 

available for application development. The related fault messages are specified by the parameters 

U180 and U181. 

48B4h 

0h 

Default setting: ExtFault1 


U181 

Text external fault 2: See U180. 

48B5h 

0h 

Axis 

Default setting: ExtFault2 

r=2, w=2 


TR-109



STÖBER 


Z.. Fault Counter 


Short/ground.: The parameter indicates how frequently event 31:Short/ground has occurred. 521Fh 0h 

Z31 

Event description:: 

Global 

Trigger: The hardware overcurrent switchoff is active. 

read (3) Cause: 

• The motor requires too much current from the inverter 

(interwinding fault, overload) 

Level: 

Fault 

Acknowledgment: Turn device off/on or programmed acknowledgment. 

Other: 

The motor always coasts down. 

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 07 C0 00 hex 

Z32 

Global 

read (3) 

Short/ground internal: The parameter indicates how frequently event 32:Short/ground internal 

has occurred. 

Event description: 

Trigger: An internal check is performed when the inverter is enabled. 

An existing short circuit will cause a fault. 

Cause: 

• An internal device error exists. 

Level: 

Fault 

Acknowledgment: Turn device off/on or programmed acknowledgment 

Other: 


5220h 

0h 

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 08 00 00 hex 

Z33 

Global 

read (3) 

Overcurrent: The parameter indicates how frequently event 33:Overcurrent has occurred. 


Trigger: The total motor current exceeds the permissible maximum. 

Cause: 

• Acceleration times too short 

• Wrong torque limitations in parameters C03 and C05 

Level: 

Fault 


Other: 


5221h 

0h 


Z34 

Global 

read (3) 

Hardware fault: The parameter indicates how frequently event 34:Hardware fault has occurred. 


Trigger: A hardware error occurred. 

Cause: 

1: FPGA; error while loading the FPGA. 

2: NOV-ST; control unit memory defective (FERAM). 

3: NOV-LT; power unit memory defective (EEPROM). 

10: ST LT; power unit serial number does not match. requirement in control 

unit. 

11: CurrentMeas; current offset measurement when device starts up - deviation 

too great 

Level: 

Fault 

Acknowledgment: Cannot be acknowledged 

Other: 

The inverter must be sent in for repairs. 

5222h 

0h 


Z35 

Global 

read (3) 

Watchdog: The parameter indicates how frequently event 35:Watchdog has occurred. 


Trigger: The watchdog of the microprocessor has triggered. 

Cause: 

• The microprocessor is busy or it is faulty. 

Level: 

Fault 


Other: 


5223h 

0h 


TR-110



STÖBER 




Z36 

Global 

read (3) 

High voltage: The parameter indicates how frequently event 36:High voltage has occurred. 


Trigger: The voltage in the DC link exceeds permissible maximum 

(indication DC link voltage in E03). 

Cause: 

• Network voltage too high 

• Feedback of drive in braking mode (no brake resistor connected brake 

chopper deactivated with A20=inactive or defective). 

• Brake resistor too low (overcurrent protection) 

• Ramp too steep 

Level: 

Fault 


Other: 



5224h 

0h 

Z37 

Global 

read (3) 

n-feedback: The parameter indicates how frequently event 37:n-feedback has occurred. 


Trigger: Error by encoder. 

Cause: 

1: Para encoder; parameterization does not match connected encoder. 

2: ParaChgOffOn; Parameterchange; encoder parameterization cannot be 

changed during operation. Save and then turn device off and on so that the 

change takes effect. 

4: Chan.A/Clk; wire break, track A / clock 

5: Chan.B/Dat; wire break, track B / data 

6: Chan.0; wire break, track 0 

7: EnDatAlarm; alarm bit of EnDat ® encoder is queued. 

8: EnDatCRC; too many errors during redundancy check (EnDat ® ), e.g., wire 

break, error in cable shield) 

9: Comm.Offset; commutating offset is not correct. 

10: Resol.carrier; resolver is not or wrong connected, wirebreak is possible 

11: Resol.undervolt.; wrong transmission factor 

12: Resol.overvolt.; wrong transmission factor 

13: Resol.parameter; 

14: Resol.failure; wirebreak 

15: X120-double tr.; X120 double transmission occurred 

16: X120-Busy; encoder gave no response for too long; bei SSI-Slave: bei 

freigegebenen Antrieb seit 5 ms keine Telegramm 

17: X120-wirebreak; 

18: X120-Timeout; 

19: X4-double tr.; X4 double transmission occurred 

20: X4-Busy; encoder gave no response for too long 

21: X4-wirebreak; 

22: AX5000; acknowledgment of the axis switch is not effected. 

23: Ax5000required; comparison of E57 and E70. 

24: X120-speed; B297, G297 or I297 exceeded. 

25: X4-speed; B297, G297 or I297 exceeded. 

26: No Enc. found; either no encoder was found on X4 or the EnDat ® /SSI 

encoder has a wire break. 

27: AX5000 found; a functional AX 5000 option board was found on X4 

although incremental encoder or EnDat ® encoder was parameterized, or no 

EnDat ® encoder is connected to the AX 5000 option board. 

28: EnDat found.; an EnDat ® encoder was found on X4 although another 

encoder was parameterized. 

29: AX5000/IncEnc; either X4 has a faulty AX 5000 option board or the A-track 

of an incremental encoder has a wire break. 

Level: 

Fault 

Acknowledgment: Turn the device off/on for causes 7, 10, 11, 12, 13 and 14. Programmed 

acknowledgment for other causes. 

Other: 


Caution: With positioning applications, the reference is deleted by the event 

"37:n-feedback." After acknowledgment, referencing must be performed again. 


5225h 

0h 

TR-111



STÖBER 




Overtemp.device sensor: The parameter indicates how frequently event 38:Overtemp.device 5226h 0h 

Z38 

sensor has occurred. 

Global 

read (3) 


Trigger: The temperature measured by the device sensor exceeds the permissible 

maximum value or is below the permissible minimum value. 

Cause: 

• Ambient/switching cabinet temperatures too high or to low. 

Level: 

Fault 


Other: 

The permissible temperatures are stored on the power 

section of the inverter. 


Z39 

Global 

read (3) 

Overtemp.device i2t: The parameter indicates how frequently event 39:Overtemp.device i2t 

has occurred. 


Trigger: The i 2 t model for the inverter exceeds 100% of the thermal load. 

Cause: 

• Inverter overloaded (e.g., because motor blocked). 

• Too high clock pulse frequency. 

Level: 

Other: 

Inactive, message, warning or fault, can be parameterized in U02 (Default: fault). 

When the event is triggered, a current limitation occurs initially for control types 

servo and vector control. At the same time, a quick stop is triggered as a fault 

when parameterized in U02. Reduction of the current may mean that the quick 

stop is no longer executed correctly! 


5227h 

0h 

Z40 

Global 

read (3) 

Invalid data: The parameter indicates how frequently event 40:Invalid data has occurred. 


Trigger: A data error was detected when the non-volatile memory was initialized. 

Cause: 

1 to 7: Control unit memory 

1: Fault; low-level read/write error or timeout. 

2: BlockMiss; unknown data block. 

3: DatSecur; block has no data security. 

4: Checksum; block has checksum error. 

5: R/o; block is r/o. 

6: ReadErr; startup phase: block read error. 

7: BlockMiss; block not found . 

17 to 23: power unit memory 

17: Fault; low-level read/write error or timeout. 

18: BlockMiss; unknown data block. 

19: DatSecur; block has no data security. 

20: Checksum; block has checksum error. 

21: R/o; block is r/o. 

22: ReadErr; startup phase: block read error. 

23: BlockMiss; block not found. 

32 and 33: encoder memory 

32: el. mot-type; no nameplate data present. 

33: el.typeLim; elecronic motor-type limit; nameplate parameters cannot be 

entered. 

48: Optionmodule2; error in memory of option 2 with REA 5000 and XEA 5000 

and XEA 5001 respectively. 

Level: 

Fault 

Acknowledgment: The event cannot be acknowledged for cause 1 to 23 and 48. 

The inverter must be sent in for repairs. The event can be acknowledged for 

causes 32 and 33. 

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0A 00 00 hex 

5228h 

0h 

TR-112



STÖBER 




Z41 

Global 

read (3) 

Temp.MotorTMP: The parameter indicates how frequently event 41:Temp.MotorTMP has 

occurred. 


Trigger: Motor temperature sensor reports excess temperature. (Connection terminals 

X2.3, X2.4). 

Cause: 

• The motor is overloaded. 

• The temperature sensor is not connected. 

Level: 

Fault 



5229h 

0h 

Z42 

Global 

read (3) 

TempBrakeRes: The parameter indicates how frequently event 42:TempBrakeRes has occurred. 


Trigger: The i 2 t model for the brake resistor exceeds 100% of the load. 

Cause: 

• The brake resistor may not be adequate for the application. 

Level: 

Fault 

Acknowledgment: Programmed acknowledgment. Acknowledgment by turning the device off/on is 

not recommended since the i 2 t model would be reset to 80% in this case and 

there is a danger of the deceleration resistor being damaged. 

522Ah 

0h 


Z44 

Global 

read (3) 

External fault 1: The parameter indicates how frequently event 44:External fault 1 has occurred. 


Trigger: Application specific or by free programming option. 

Level: 

Fault 


Other: 

Should only be used for application events which may not be set lower than the 

"fault" level. 

522Ch 

0h 

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0B 00 00 hex 

Z45 

Global 

read (3) 

Overtemp.motor i2t: The parameter indicates how frequently event 45:Overtemp.motor i2t has 

occurred. 


Trigger: The i 2 t model for the motor has reached 100% of load. 

Cause: 

• The motor is overloaded. 

Level: Can be parameterized as inactive, message or warning in U10 and U11. 


522Dh 

0h 


Z46 

Global 

read (3) 

Low voltage: The parameter indicates how frequently event 46:Low voltage has occurred. 


Trigger: The DC link voltage is lower than the limit value set in A35. 

Cause: 

• Drops in the network voltage. 

• Failure of one phase with three-phase connection. 

• Acceleration times too short. 

Level: Can be parameterized as fault or warning in U00 and U01. 

Acknowledgment: Can be acknowledged for "fault" level by turning device off/on or programmed 

acknowledgment. 

522Eh 

0h 


Z47 

Global 

read (3) 

Torque limit: The parameter indicates how frequently event 47:Torque limit has occurred. 


Trigger: 

The maximum torque permitted for static operation is exceeded for the control 

types servo control, vector control or senorless vector control (E62:act. pos. M- 

max, E66:act. neg. M-max). 

Cause: • Limitation by parameters C03 and C05. 

Level: Can be parameterized in U20 and U21. 

522Fh 

0h 

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0B C0 00 hex 

TR-113



STÖBER 




Communication: The parameter indicates how frequently event 52:Communication has occurred. 5234h 0h 

Z52 


Global Trigger: Communication fault 


1: CAN LifeGuard; recognized the "life-guarding-event" (master no 

longer sends RTR). 

2: CAN Sync Error; sync message was not received within the time set in 

CANOpen object with index 1006 (cycle period timeout). 

3: CAN Bus Off; went off when bus went off. The driver started it again. 

4: PZD-Timeout; failure of the cyclic data connection (PROFIBUS). 

5: USS; (under preparation) failure of the cyclic data connection (USS). 

6: Systembus; (under preparation) 

Level: 

Fault 


Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0D 00 00 hex 

Z55 

Global 

read (3) 

Option board: The parameter indicates how frequently event 55:Option board has occurred. 


Trigger: Error during operation with option board. 

Cause: 

1: CAN 5000 failure; CAN 5000 was recognized, installed and failed. 

2: DP 5000 failure; DP5000 was recognized, installed and failed. 

3: REA 5000 failure; REA 5000 was recognized, installed and failed. 

4: SEA 5000 failure; SEA 5000 was recognized, installed and failed. 

5: XEA 5000 failure; XEA 5000 or XEA 5001was recognized, installed and 

failed. 

6: EncSim-init; could not be initialized on XEA. The motor may have turned 


7: WrongOption; wrong or nonexisting option board (compar. E54/E58 with 

E68/E69) 

8: LEA5000 failure; LEA 5000 was recognized, installed and failed. 

9: ECS5000 failure; ECS 5000 was recognized, installed and failed.. 

10: 24V failure; Failure of the 24 V supply for XEA 5001 or LEA 5000. 

Level: 

Fault 

Acknowledgment: Turn device off/on for all causes or programmed acknowledgment of causes 1 to 

6 and 8 to 10. 

5237h 

0h 

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0D C0 00 hex 

Z56 

Global 

read (3) 

Overspeed: The parameter indicates how frequently event 56:Overspeed has occurred. 


Trigger: The measured speed is greater than C01*1,1 + 100 rpm. 

Cause: 

• Encoder defective 

Level: 

Fault 


Other: 

The motor always coasts down (from V5.0D on). 

5238h 

0h 

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0E 00 00 hex 

Z57 

Global 

read (3) 

Runtime usage: The parameter indicates how frequently event 57:Runtime usage has occurred. 


Trigger: The cycle time of a real-time task was exceeded. 

Cause: 

2: RT2; cycle time of real-time task 2 exceeded (1 msec) 

3: RT3; cycle time of real-time task 3 exceeded (technology task) 



Level: 

Fault 


5239h 

0h 


TR-114



STÖBER 




Grounded: The parameter indicates how frequently event 58:Grounded has occurred. 

523Ah 0h 

Z58 


Global Trigger: Hardware signal from power section with MDS 5000 BG3. 


• Asymmetrical motor currents. 

Level: 

Fault 


Other: 



Z59 

Global 

read (3) 

Overtemp.device i2t: The parameter indicates how frequently event 59:Overtemp.device i2t 

has occurred. 


Trigger: The i 2 t model calculated for the inverter exceeds 105% of the thermal load. 

Cause: 

• Inverter overloaded (e.g., because motor is blocked). 

• Clock pulse frequency too high. 

Level: 

Fault 


523Bh 

0h 

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0E C0 00 hex 

Z60 

Global 

read (3) 

Application event 0: The parameter indicates how frequently event 60:Application event 0 has 

occurred. 



Cause: 

• Can be programmed as desired for each axis separately. 

Level: Can be parameterized in system parameters U100. 


Other: 

- Message/warning: Evaluation in 256-msec cycle. 

- Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level 

can be set in parameter group U.. starting with U100. 

523Ch 

0h 

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0F 00 00 hex 

Z61 

Global 

read (3) 


occurred. 



Cause: 




Other: 





523Dh 

0h 

Z62 

Global 

read (3) 


occurred. 



Cause: 




Other: 





523Eh 

0h 

TR-115



STÖBER 




Application event 3: The parameter indicates how frequently event 63:Application event 3 has 523Fh 

Z63 

occurred. 

Global Event description: 

read (3) 


Cause: 




Other: 




Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0F C0 00 hex 

0h 

Z64 

Global 

read (3) 


occurred. 



Cause: 




Other: 





5240h 

0h 

Z65 

Global 

read (3) 


occurred. 



Cause: 




Other: 





5241h 

0h 

Z66 

Global 

read (3) 


occurred. 



Cause: 




Other: 





5242h 

0h 

Z67 

Global 

read (3) 


occurred. 



Cause: 




Other: 





5243h 

0h 

TR-116



STÖBER 




External fault 2: The parameter indicates how frequently event 68:External fault 2 has occurred. 5244h 0h 

Z68 


Global Trigger: Application specific or by free programming option. 

read (3) Level: 

Fault 


Other: 

Should be used for application events which can only be parameterized at the 

"fault" level. 


Z69 

Global 

read (3) 

Motor connection: The parameter indicates how frequently event 69:Motor connection has 

occurred. 


Trigger: 

Cause: 

Connection error of the motor. 

1: MotorNotDiscon; the contactor did not open when the axis changed. This 

cause can only be determined when at least two phase contacts are stuck and 

the DC link is charged (see E03). No magnetization could be established with 

asynchronous motors. 

2: No motor; possibly no motor connected or line to motor interrupted. 

Level: Can be parameterized as inactive or warning in U12. 



5245h 

0h 

Z70 

Global 

read (3) 

Parameter consistency: The parameter indicates how frequently event 70:Parameter 

consistency has occurred. 


Trigger: 

Cause: 

The parameterization is inconsistent. 

1: no servoencoder; no servo-type encoder; control mode B20 is set to "servo" 

but no appropriate encoder is selected (B26, H.. parameter). 

2: X120 direction; X120 is used as source in one parameter but is 

parameterized in H120 as drain (or vice versa). 

3: B12B20; Control mode B20 is not set to servo but the nominal motor 

current (B12) exceeds the 4-kHz nominal current (R24) of the device by more 

than 1.5 times. 

4: B10H31; Resolver/motorpoleno.; the set motor pole number (B10) and the 

resolver pole number (H31) do not match. 

5: neg.slip; with the control modes V/f, SLVC or VC (B20). The values for motor 

nominal speed (B13), motor nominal frequency (B15) and motor pole number 

(B10) indicate a negative slip. 

7: B26:SSI-Slave; SSI slave may not be used as motor encoder 

(synchronization problems). 

8: C01>B83; C01 may not be greater than B83. 

Level: 

Fault 


Other: 

With an incorrect parameterization, a fault is not triggered until enabling takes 

place. 


5246h 

0h 

TR-117

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SMS, POSIDYN ® e POSIDRIVE ® 

sono sigle protette della 

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. 

Altri simboli di prodotti e marche sono marchi 

depositati dei rispettivi costruttori e finalizzati 

soltanto al chiarimento. 

© 2006 STÖBER ANTRIEBSTECHNIK GmbH + Co. KG 

Sigla editoriale: N. 441989.00.00 · 09.2006 

- Con riserva di modifiche tecniche -

www.stoeber.de 

STÖBER PRODUCT RANGE 

AC drives MGS geared motors 

MGS C helical geared motor 

MGS F shaft-mounted helical geared motor 

MGS K helical bevel geared motor 

MGS S helical worm geared motor 

Servo drives SMS geared motor 

SMS P planetary geared motor 

SMS PA planetary geared motor 

SMS PK planetary geared motor 

SMS PH planetary geared motor 

SMS PHA planetary geared motor 

SMS PHK planetary geared motor 

SMS C helical geared motor 

SMS F shaft-mounted helical geared motor 

SMS K helical bevel geared motor 

SMS S helical worm geared motor 

STÖBER ANTRIEBSTECHNIK 

GmbH + Co. KG 

Kieselbronner Str. 12 

75177 PFORZHEIM 

GERMANY 

Tel. 0049 (0) 7231 582-0 

Fax 0049 (0) 7231 582-1000 

eMail: mail@stoeber.de 

www.stoeber.de 

Inverters 

Gear units 

Power electronics 

POSIDRIVE ® MDS 5000 servo inverter 

POSIDYN ® SDS 4000 servo inverter 

POSIDRIVE ® MDS 5000 frequency inverter 

POSIDRIVE ® FDS 5000 frequency inverter 

POSIDRIVE ® FAS 4000 frequency inverter 

Modular gear system 

SMS/MGS modular gear systems 

C helical gear unit 

F shaft-mounted helical gear unit 

K helical bevel gear units 

S helical worm gear unit 

ServoFit ® planetary gear units 

ServoFit ® Classic Line P 

ServoFit ® Advanced Line PA 

ServoFit ® Power Line PH 

ServoFit ® Advanced Power Line PHA 

ServoFit ® Econo Line PE 

ServoFit ® planetary gear units combinations 

Classic Line PKX 

Classic Line PK 

Power Line PHKX 

Power Line PHK 

Motors 

Motors with modular expandability 

MGS system motor 

Servo motor EK 

Servo motor ED

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